US6154201A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Control knob with multiple degrees of freedom and force feedback
Assignee: Immersion Corp
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Filing: 1998-10-26
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Granted: 2000-11-28
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Expires: 2018-10-26
Abstract
Abstract The present invention provides a control knob on a device that allows a user to control functions of the device. In one embodiment, the knob is rotatable in a rotary degree of freedom and moveable in at least one transverse direction approximately perpendicular to the axis. An actuator is coupled to the knob to output a force in the rotary degree of freedom about the axis, thus providing force feedback. In a different embodiment, the knob is provided with force feedback in a rotary degree of freedom about an axis and is also moveable in a linear degree of freedom approximately parallel to the axis, allowing the knob to be pushed and/or pulled by the user. The device controlled by the knob can be a variety of types of devices, such as an audio device, video device, etc. The device can also include a display providing an image updated in response to manipulation of the knob. Detent forces can be provided for the knob by overlapping and adjusting ranges of closely-spaced detents in the rotary degree of freedom of the knob.
Inventors
- 👤 Michael D. Levin
- 👤 Kenneth M. Martin
- 👤 Bruce M. Schena
- 👤 Adam C. Braun
- 👤 Louis B. Rosenberg
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-06 02:54
CPC Classifications
G; G06; G06F; G06F3/00; G06F3/01; G06F3/016; G01; G01C; G01C21/00; G01C21/26; G01C21/34; G01C21/36; G01C21/3664; G05; G05G; G05G9/00; G05G9/02; G05G9/04; G05G9/047; G06F3/02; G06F3/0202; G06F3/0219; G06F3/03; G06F3/033; G06F3/0354; G06F3/03543; G06F3/03548; G06F3/0362; G06F3/039; G06F3/0395; G06F3/048; G06F3/0481; G06F3/0482; G06F3/0484; G06F3/0485; A; A63; A63F; A63F2300/00; A63F2300/10; A63F2300/1037; G05G2009/04766; G05G2009/0477; G06F2203/00; G06F2203/01; G06F2203/013; G06F2203/014; H; H01; H01H; H01H3/00; H01H2003/008; Y; Y10; Y10S; Y10S715/00; Y10S715/961; Y10S715/965; Y10S715/97; Y10T; Y10T74/00; Y10T74/20; Y10T74/20207; Y10T74/20256; Y10T74/20262
Claims Analysis
Total Claims: 83
Claim 1
Independent Claim
203 words
A control knob device for providing input to a processor of a device, said control knob comprising: a control knob coupled to a grounded surface, said knob rotatable in a rotary degree of freedom about an axis extending through said knob, said knob also moveable in a plurality of transverse directions approximately perpendicular to said axis; a rotational sensor that detects a rotary position of said knob in said rotary degree of freedom, said position of said knob provided to said processor; a transverse sensor operative to detect a transverse position of said knob in any of said transverse directions, wherein said position of said knob in a particular transverse direction is provided to said processor to select one of a plurality of modes of said device to be active, wherein at least two of said transverse directions each select a different one of said modes; and an actuator coupled to said knob and operative to output a processor-controlled force sensation in said rotary degree of freedom about said axis, wherein said force sensation is based on said selected mode, and wherein one of said modes, when active, provides different force sensations to said knob than another one of said modes, when active.
Claim 2
Dependent Claim
203 words
A control knob device for providing input to a processor of a device, said control knob comprising: a control knob coupled to a grounded surface, said knob rotatable in a rotary degree of freedom about an axis extending through said knob, said knob also moveable in a plurality of transverse directions approximately perpendicular to said axis; a rotational sensor that detects a rotary position of said knob in said rotary degree of freedom, said position of said knob provided to said processor; a transverse sensor operative to detect a transverse position of said knob in any of said transverse directions, wherein said position of said knob in a particular transverse direction is provided to said processor to select one of a plurality of modes of said device to be active, wherein at least two of said transverse directions each select a different one of said modes; and an actuator coupled to said knob and operative to output a processor-controlled force sensation in said rotary degree of freedom about said axis, wherein said force sensation is based on said selected mode, and wherein one of said modes, when active, provides different force sensations to said knob than another one of said modes, when active.
Claim 3
Dependent Claim
46 words
A control knob device as recited in claim 1 wherein said knob is also moveable in a linear degree of freedom approximately parallel to said axis, and further comprising a linear sensor operative to detect a position of said knob in said linear degree of freedom.
Claim 4
Dependent Claim
27 words
A control knob device as recited in claim 2 wherein said knob can be pushed by a user, said pushing motion being detected by said linear sensor.
Claim 5
Dependent Claim
27 words
A control knob device as recited in claim 2 wherein said knob can be pulled by a user, said pulling motion being detected by said linear sensor.
Claim 6
Dependent Claim
40 words
A control knob device as recited in claim 1 wherein said knob is moveable in at least four transverse directions, and wherein said transverse sensor is operative to detect when said knob is moved in any of said transverse directions.
Claim 7
Dependent Claim
37 words
A control knob device recited in claim 1 wherein said transverse sensor includes a hat switch having a plurality of individual switches, each of said individual switches detecting movement of said knob in a particular transverse direction.
Claim 8
Dependent Claim
33 words
A control knob device as recited in claim 6 wherein said knob is moveable in four transverse directions spaced approximately orthogonal to each other, and wherein said hat switch includes four individual switches.
Claim 9
Dependent Claim
43 words
A control knob device as recited in claim 1 wherein said processor includes a microprocessor coupled to said rotational sensor and to said transverse sensor, said microprocessor receiving sensor signals from said sensors and controlling said modes in response to said sensor signals.
Claim 10
Dependent Claim
25 words
A control knob device as recited in claim 8 wherein said rotary position of said knob controls an audio function of a vehicular audio system.
Claim 11
Dependent Claim
61 words
A control knob device as recited in claim 1 wherein said processor includes a microprocessor coupled to said rotational sensor and to said transverse sensor, said microprocessor receiving sensor signals from said sensors and controlling said modes of device in response to said sensor signals, said microprocessor sending force feedback signals to said actuator to control forces output by said actuator.
Claim 12
Dependent Claim
32 words
A control knob device as recited in claim 1 further comprising a display, wherein an image on said display is changed in response to manipulation of said knob in said transverse direction.
Claim 13
Dependent Claim
29 words
A control knob device as recited in claim 1 wherein a flexible member is coupled between said knob and said actuator to allow said movement in said tranverse direction.
Claim 14
Dependent Claim
17 words
A control knob device as recited in claim 12 wherein said flexible member is a spring member.
Claim 15
Dependent Claim
29 words
A control knob device as recited in claim 12 wherein said flexible member includes a base plate and a plurality of bent flexible portions coupled to said base plate.
Claim 16
Dependent Claim
204 words
A control knob device for providing input to a control processor, said knob device comprising: a control knob coupled to a grounded surface, said knob rotatable in a rotary degree of freedom about an axis extending through said knob, said knob also moveable in a linear degree of freedom approximately parallel to said axis and in a plurality of transverse directions approximately perpendicular to said axis; a rotational sensor that detects a rotary position of said knob in said rotary degree of freedom; a linear sensor that detects a linear position of said knob in said linear degree of freedom; a transverse switch device that detects a transverse position of said knob in any of said transverse directions; and an actuator coupled to said knob and operative to output a force sensation in said rotary degree of freedom about said axis, wherein said force sensation is based on a mode selected by said transverse position, said mode being one of a plurality of modes provided by said control processor, and wherein said rotary position and said linear position are provided to said control processor to control a function of an electronic device coupled to said control processor, said function provided in said selected mode.
Claim 17
Dependent Claim
204 words
A control knob device for providing input to a control processor, said knob device comprising: a control knob coupled to a grounded surface, said knob rotatable in a rotary degree of freedom about an axis extending through said knob, said knob also moveable in a linear degree of freedom approximately parallel to said axis and in a plurality of transverse directions approximately perpendicular to said axis; a rotational sensor that detects a rotary position of said knob in said rotary degree of freedom; a linear sensor that detects a linear position of said knob in said linear degree of freedom; a transverse switch device that detects a transverse position of said knob in any of said transverse directions; and an actuator coupled to said knob and operative to output a force sensation in said rotary degree of freedom about said axis, wherein said force sensation is based on a mode selected by said transverse position, said mode being one of a plurality of modes provided by said control processor, and wherein said rotary position and said linear position are provided to said control processor to control a function of an electronic device coupled to said control processor, said function provided in said selected mode.
Claim 18
Dependent Claim
63 words
A control knob device as recited in claim 15 wherein said processor includes a microprocessor coupled to said rotational sensor and to said linear sensor, said microprocessor receiving sensor signals from said sensors and controlling said function of said electronic device in response to said sensor signals, said microprocessor sending force feedback signals to said actuator to control forces output by said actuator.
Claim 19
Dependent Claim
27 words
A control knob device as recited in claim 15 wherein said knob can be pushed by a user, said pushing motion being detected by said linear sensor.
Claim 20
Dependent Claim
27 words
A control knob device as recited in claim 15 wherein said knob can be pulled by a user, said pulling motion being detected by said linear sensor.
Claim 21
Dependent Claim
33 words
A control knob device as recited in claim 15 wherein said knob can be pushed or pulled by a user, said pushing motion and said pulling motion being detected by said linear sensor.
Claim 22
Dependent Claim
46 words
A control knob device as recited in claim 15 further comprising a flexible member that provides a spring force on said knob in a transverse direction towards a center position of said knob when said knob is moved in a direction opposite to said transverse direction.
Claim 23
Dependent Claim
28 words
A control knob device as recited in claim 15 further comprising a spring member for biasing said knob to a center position in said linear degree of freedom.
Claim 24
Dependent Claim
39 words
A control knob device as recited in claim 15 wherein said linear sensor includes a grounded switch that is contacted by a pusher member coupled to said knob when said knob is moved in said linear degree of freedom.
Claim 25
Dependent Claim
42 words
A control knob device as recited in claim 15 wherein said linear sensor detects a position of said knob within a detectable continuous range of motion of said knob, and wherein said linear sensor outputs a sensor signal indicative of said position.
Claim 26
Independent Claim
197 words
A method for controlling functions of a device from input provided by a control knob, the method comprising: reading a rotary sensor signal from a rotary sensor, said rotary sensor signal being representative of a position of a control knob in a rotary degree of freedom about an axis extending through said knob; reading a transverse switch signal from a transverse switch, said transverse switch signal indicating when said knob is moved in a transverse degree of freedom approximately perpendicular to said axis; reading a linear sensor signal from a linear sensor, said linear sensor signal being representative of a position of said knob in a linear degree of freedom approximately parallel to said axis; using at least one of said rotary sensor signal and said transverse switch signal to select a mode for controlling a function of said device; using said linear sensor signal to select a setting within said selected mode; and providing a force feedback signal to an actuator that is coupled to said knob, said force feedback signal being based at least in part on said selected mode, wherein said force feedback signal is used to output a force sensation on said knob.
Claim 27
Independent Claim
197 words
A method for controlling functions of a device from input provided by a control knob, the method comprising: reading a rotary sensor signal from a rotary sensor, said rotary sensor signal being representative of a position of a control knob in a rotary degree of freedom about an axis extending through said knob; reading a transverse switch signal from a transverse switch, said transverse switch signal indicating when said knob is moved in a transverse degree of freedom approximately perpendicular to said axis; reading a linear sensor signal from a linear sensor, said linear sensor signal being representative of a position of said knob in a linear degree of freedom approximately parallel to said axis; using at least one of said rotary sensor signal and said transverse switch signal to select a mode for controlling a function of said device; using said linear sensor signal to select a setting within said selected mode; and providing a force feedback signal to an actuator that is coupled to said knob, said force feedback signal being based at least in part on said selected mode, wherein said force feedback signal is used to output a force sensation on said knob.
Claim 28
Dependent Claim
24 words
A method as recited in claim 24 wherein said force feedback signal is also based at least in part on said rotary sensor signal.
Claim 29
Dependent Claim
64 words
A method as recited in claim 24 wherein said device is a vehicular device and said modes include at least two of a radio frequency mode for adjusting a frequency of a radio tuner, a temperature mode for adjusting a temperature in an area of a vehicle, and a mechanical component mode for controlling a physical position of a mechanical component in said vehicle.
Claim 30
Dependent Claim
40 words
A method as recited in claim 24 wherein said device is a vehicular device and said function of said vehicular device includes adjusting a displayed image based on at least one said rotary sensor signal and said transverse switch signal.
Claim 31
Dependent Claim
239 words
An interface control device including force feedback and providing rate control and position control modes to control a value used in an electronic device, the interface control device comprising: a user manipulatable object grasped by a user and movable in a degree of freedom to adjust said value; an actuator coupled to said user manipulatable object and providing forces on said user manipulatable object in said degree of freedom; a sensor that detects a position of said user manipulatable object in said degree of freedom and outputs a sensor signal including information representing said position; and a microprocessor coupled to said actuator and to said sensor, said microprocessor controlling said forces provided by said actuator and receiving said sensor signal from said sensor, wherein said microprocessor is capable of commanding a position control mode and a rate control mode for said user manipulatable object, wherein one of said position control mode and rate control mode is active for said interface control device at any one time, said commanded mode being based on selection input from said user, wherein said position control mode sets said value directly based on a position of said user manipulatable object in said degree of freedom, and wherein said rate control mode controls a rate of change of said value based on a position of said user manipulatable object in said degree of freedom with respect to an origin position in said degree of freedom.
Claim 32
Dependent Claim
239 words
An interface control device including force feedback and providing rate control and position control modes to control a value used in an electronic device, the interface control device comprising: a user manipulatable object grasped by a user and movable in a degree of freedom to adjust said value; an actuator coupled to said user manipulatable object and providing forces on said user manipulatable object in said degree of freedom; a sensor that detects a position of said user manipulatable object in said degree of freedom and outputs a sensor signal including information representing said position; and a microprocessor coupled to said actuator and to said sensor, said microprocessor controlling said forces provided by said actuator and receiving said sensor signal from said sensor, wherein said microprocessor is capable of commanding a position control mode and a rate control mode for said user manipulatable object, wherein one of said position control mode and rate control mode is active for said interface control device at any one time, said commanded mode being based on selection input from said user, wherein said position control mode sets said value directly based on a position of said user manipulatable object in said degree of freedom, and wherein said rate control mode controls a rate of change of said value based on a position of said user manipulatable object in said degree of freedom with respect to an origin position in said degree of freedom.
Claim 33
Dependent Claim
30 words
An interface control device as recited in claim 28 wherein said degree of freedom is a rotary degree of freedom, and wherein said user manipulatable object includes a rotary knob.
Claim 34
Dependent Claim
31 words
An interface control device as recited in claim 28 wherein said degree of freedom is a linear degree of freedom, and wherein said user manipulatable object includes a slider control knob.
Claim 35
Dependent Claim
45 words
An interface control device as recited in claim 28 wherein said rate control mode provides a force on said user manipulatable object using said actuator, said force being applied in a direction opposing a movement of said user manipulatable object away from said origin position.
Claim 36
Dependent Claim
19 words
An interface control device as recited in claim 31 wherein said force opposing said movement is a spring force.
Claim 37
Dependent Claim
32 words
An interface control device as recited in claim 29 wherein said microprocessor controls said actuator to output at least one force detent during movement of said knob in said position control mode.
Claim 38
Dependent Claim
33 words
An interface control device as recited in claim 28 wherein said microprocessor controls said actuator to output at least one force jolt during said change of said value in said rate control mode.
Claim 39
Dependent Claim
31 words
An interface control device as recited in claim 28 wherein said rate control mode is used to control the value of a volume, bass, treble, or balance function of said device.
Claim 40
Dependent Claim
31 words
An interface control device as recited in claim 28 wherein said position control mode is used to control the value of a volume, bass, treble, or balance function of said device.
Claim 41
Dependent Claim
27 words
An interface control device as recited in claim 28 wherein said rate control mode is used to control a position of a physical component in a vehicle.
Claim 42
Independent Claim
271 words
A method for providing detent forces for a force feedback control, the method comprising: outputting a first force for a first detent on a user manipulatable object contacted by a user and moveable in a degree of freedom, said first force being output when said user manipulatable object is moved within a range of said first detent, said first force being output by a electronically-controlled actuator, wherein said first force assists movement of said user manipulatable object toward an origin position of said first detent and wherein said first force resists movement of said user manipulatable object away from said origin position of said first detent, and wherein said first force has a magnitude that increases the further that said user manipulatable object is positioned from said origin of said first detent; and outputting a second force for a second detent on said user manipulatable object when said user manipulatable object is moved within a range of said second detent, said second force being output by said actuator and said second detent having an origin position different from said origin position of said first detent, wherein said second force assists movement of said user manipulatable object toward an origin position of said second detent and wherein said second force resists movement of said user manipulatable object away from said origin position of said second detent, and wherein said second force has a magnitude that increases the further that said user manipulatable object is positioned from said origin of said second detent, wherein a portion of said range of said first detent overlaps a portion of said range of said second detent.
Claim 43
Independent Claim
271 words
A method for providing detent forces for a force feedback control, the method comprising: outputting a first force for a first detent on a user manipulatable object contacted by a user and moveable in a degree of freedom, said first force being output when said user manipulatable object is moved within a range of said first detent, said first force being output by a electronically-controlled actuator, wherein said first force assists movement of said user manipulatable object toward an origin position of said first detent and wherein said first force resists movement of said user manipulatable object away from said origin position of said first detent, and wherein said first force has a magnitude that increases the further that said user manipulatable object is positioned from said origin of said first detent; and outputting a second force for a second detent on said user manipulatable object when said user manipulatable object is moved within a range of said second detent, said second force being output by said actuator and said second detent having an origin position different from said origin position of said first detent, wherein said second force assists movement of said user manipulatable object toward an origin position of said second detent and wherein said second force resists movement of said user manipulatable object away from said origin position of said second detent, and wherein said second force has a magnitude that increases the further that said user manipulatable object is positioned from said origin of said second detent, wherein a portion of said range of said first detent overlaps a portion of said range of said second detent.
Claim 44
Dependent Claim
29 words
A method as recited in claim 38 wherein said magnitude increases for said first and second forces have a predetermined range, outside of which said magnitude goes to zero.
Claim 45
Dependent Claim
50 words
A method as recited in claim 38 wherein a deadband is provided around said origin of said first detent and around said origin of said second detent, wherein a magnitude of said first force and said second force is zero when said user manipulatable object is positioned within said deadband.
Claim 46
Dependent Claim
71 words
A method as recited in claim 38 wherein when said user manipulatable object is moved in a particular direction from said first detent to said second detent, said first detent range has an endpoint positioned after a beginning point of said second detent range such that a force at said beginning point of said second detent range has less magnitude than a force at an endpoint of said second detent range.
Claim 47
Dependent Claim
57 words
A method as recited in claim 41 wherein when said user manipulatable object is moved in a direction opposite to said particular direction from said second detent to said first detent, a force at a first-encountered point of said first detent range has less magnitude than a force at a last-encountered point of said first detent range.
Claim 48
Dependent Claim
22 words
A method as recited in claim 41 wherein said first detent range does not overlap past said origin of said second detent.
Claim 49
Dependent Claim
26 words
A method as recited in claim 38 wherein said user manipulatable object is a knob and said degree of freedom is a rotary degree of freedom.
Claim 50
Independent Claim
98 words
A method for providing detent forces for a force feedback control, the method comprising: defining a periodic wave; using at least a portion of said periodic wave to define a detent force curve, said detent force curve defining a force to be output on a user manipulatable object based on a position of said user manipulatable object in a degree of freedom, said user manipulatable object being contacted and moveable by a user; and using data describing said detent force curve to command said force on said user manipulatable object, said force being output by a electronically-controlled actuator.
Claim 51
Independent Claim
98 words
A method for providing detent forces for a force feedback control, the method comprising: defining a periodic wave; using at least a portion of said periodic wave to define a detent force curve, said detent force curve defining a force to be output on a user manipulatable object based on a position of said user manipulatable object in a degree of freedom, said user manipulatable object being contacted and moveable by a user; and using data describing said detent force curve to command said force on said user manipulatable object, said force being output by a electronically-controlled actuator.
Claim 52
Dependent Claim
26 words
A method as recited in claim 45 wherein said defining a periodic wave includes specifying a type, a period and a magnitude for said periodic wave.
Claim 53
Dependent Claim
41 words
A method as recited in claim 45 wherein said using at least a portion of said periodic wave to define a detent force curve includes specifying a portion of said periodic wave to define a width of said detent force curve.
Claim 54
Dependent Claim
44 words
A method as recited in claim 47 wherein said using at least a portion of said periodic wave to define a detent force curve includes specifying a phase and an offset to be applied to said periodic wave to define said detent force curve.
Claim 55
Dependent Claim
46 words
A method as recited in claim 45 wherein said using at least a portion of said periodic wave to define a detent force curve includes specifying an increment distance, wherein successive detent force curves in said degree of freedom are spaced apart by said increment distance.
Claim 56
Dependent Claim
22 words
A method as recited in claim 45 wherein said user manipulatable object is a knob moveable in a rotary degree of freedom.
Claim 57
Dependent Claim
39 words
A knob device as recited in claim 1 wherein said rotary position of said knob determines a particular setting within said mode selected by said transverse position, said setting being adjustable by varying said rotary position of said knob.
Claim 58
Dependent Claim
33 words
A knob device as recited in claim 51 wherein said modes are applicable to a vehicle and include a fan speed adjustment mode, a temperature adjustment mode, and a mechanical component moving mode.
Claim 59
Dependent Claim
21 words
A knob device as recited in claim 1 wherein said modes include a position control mode and a rate control mode.
Claim 60
Dependent Claim
21 words
A knob device as recited in claim 1 wherein said force sensation associated with one of said modes includes force detents.
Claim 61
Dependent Claim
24 words
A knob device as recited in claim 54 wherein said force sensation associated with a different one of said modes is a spring sensation.
Claim 62
Dependent Claim
33 words
A knob device as recited in claim 1 wherein said processor-controlled force sensation is based on said rotary position of said knob or motion of said knob in said rotary degree of freedom.
Claim 63
Dependent Claim
37 words
A knob device as recited in claim 2 wherein said motion in said linear degree of freedom inputs a selection input to said processor to select a highlighted option displayed on a display screen of said device.
Claim 64
Dependent Claim
35 words
A knob device as recited in claim 1 wherein said transverse position of said knob is a map manipulation function of a navigation system, said navigation system displaying a geographical map on said display screen.
Claim 65
Dependent Claim
30 words
A knob device as recited in claim 15 wherein said processor is a vehicular processor that controls a plurality of functions of one or more vehicular systems in a vehicle.
Claim 66
Dependent Claim
48 words
A knob device as recited in claim 15 wherein said function of said electronic device controlled by said rotary position includes at least one of a volume, a channel selection, and a temperature control, and wherein said linear position controls the selection of said function by said user.
Claim 67
Dependent Claim
37 words
A method as recited in claim 26, wherein said transverse switch signal picks said mode, said linear position selects said mode, said rotary position adjusts an audio volume, temperature setting, or physical component position in said mode.
Claim 68
Dependent Claim
21 words
A method as recited in claim 24 wherein said force feedback signal controls a different force sensation for different selected modes.
Claim 69
Dependent Claim
29 words
An interface control device as recited in claim 28 wherein said microprocessor is included in said electronic device and controls a function of said electronic device with said value.
Claim 70
Dependent Claim
33 words
An interface control device as recited in 28 wherein said force output by said actuator provides a force sensation that is different in said position control mode than in said rate control mode.
Claim 71
Dependent Claim
33 words
An interface control device as recited in 28 wherein said force output by said actuator provides a force sensation that is different in said position control mode than in said rate control mode.
Claim 72
Dependent Claim
58 words
An interface control device as recited in claim 64 wherein said force output in said position control mode includes at least one force detent output during movement of said user manipulatable object, and wherein said force output in said rate control mode is a spring force opposing motion of said user manipulatable object away from said origin position.
Claim 73
Dependent Claim
37 words
An interface control device as recited in claim 32 wherein said force output in said rate control mode also includes at least one force jolt output during said change of said value in said rate control mode.
Claim 74
Dependent Claim
123 words
A knob controller device comprising: a knob coupled to a grounded surface, said knob rotatable in a rotary degree of freedom about an axis extending through said knob, said knob also moveable in a transverse direction approximately perpendicular to said axis; a rotational sensor that detects a position of said knob in said rotary degree of freedom; a transverse sensor operative to detect a position of said knob in said transverse direction, wherein said transverse sensor includes a hat switch having a plurality of individual switches, each of said individual switches detecting movement of said knob in a particular transverse direction; and an actuator coupled to said knob and operative to output a force in said rotary degree of freedom about said axis.
Claim 75
Dependent Claim
123 words
A knob controller device comprising: a knob coupled to a grounded surface, said knob rotatable in a rotary degree of freedom about an axis extending through said knob, said knob also moveable in a transverse direction approximately perpendicular to said axis; a rotational sensor that detects a position of said knob in said rotary degree of freedom; a transverse sensor operative to detect a position of said knob in said transverse direction, wherein said transverse sensor includes a hat switch having a plurality of individual switches, each of said individual switches detecting movement of said knob in a particular transverse direction; and an actuator coupled to said knob and operative to output a force in said rotary degree of freedom about said axis.
Claim 76
Dependent Claim
33 words
A knob controller device as recited in claim 65 wherein said knob is moveable in four transverse directions spaced approximately orthogonal to each other, and wherein said hat switch includes four individual switches.
Claim 77
Dependent Claim
229 words
An interface control device including force feedback and providing rate control and position control modes, the interface control device comprising: a user manipulatable object grasped by a user and movable in a degree of freedom; an actuator coupled to said user manipulatable object and providing forces on said user manipulatable object in said degree of freedom; a sensor that detects a position of said user manipulatable object in said degree of freedom and outputs a sensor signal including information representing said position; and a microprocessor coupled to said actuator and to said sensor, said microprocessor controlling said forces provided by said actuator and receiving said sensor signal from said sensor, wherein said microprocessor is capable of commanding a position control mode and a rate control mode for said user manipulatable object, wherein one of said position control mode and rate control mode is active for said interface control device at any one time, wherein said position control mode controls a value based on a position of said user manipulatable object in said degree of freedom, and wherein said rate control mode controls a rate of change of said value based on a position of said user manipulatable object in said degree of freedom, and wherein said microprocessor controls said actuator to output at least one force detent during movement of said user manipulatable object in said position control mode.
Claim 78
Dependent Claim
229 words
An interface control device including force feedback and providing rate control and position control modes, the interface control device comprising: a user manipulatable object grasped by a user and movable in a degree of freedom; an actuator coupled to said user manipulatable object and providing forces on said user manipulatable object in said degree of freedom; a sensor that detects a position of said user manipulatable object in said degree of freedom and outputs a sensor signal including information representing said position; and a microprocessor coupled to said actuator and to said sensor, said microprocessor controlling said forces provided by said actuator and receiving said sensor signal from said sensor, wherein said microprocessor is capable of commanding a position control mode and a rate control mode for said user manipulatable object, wherein one of said position control mode and rate control mode is active for said interface control device at any one time, wherein said position control mode controls a value based on a position of said user manipulatable object in said degree of freedom, and wherein said rate control mode controls a rate of change of said value based on a position of said user manipulatable object in said degree of freedom, and wherein said microprocessor controls said actuator to output at least one force detent during movement of said user manipulatable object in said position control mode.
Claim 79
Independent Claim
204 words
A method for providing detent forces for a force feedback control, the method comprising: outputting a first force for a first detent on a knob contacted by a user and moveable in a rotary degree of freedom, said first force being output when said knob is moved within a range of said first detent, said first force being output by a electronically-controlled actuator, wherein said first force assists movement of said knob toward an origin position of said first detent and wherein said first force resists movement of said knob away from said origin position of said first detent; and outputting a second force for a second detent on said knob when said knob is moved within a range of said second detent, said second force being output by said actuator and said second detent having an origin position different from said origin position of said first detent, wherein said second force assists movement of said knob toward an origin position of said second detent and wherein said second force resists movement of said knob away from said origin position of said second detent, wherein a portion of said range of said first detent overlaps a portion of said range of said second detent.
Claim 80
Independent Claim
204 words
A method for providing detent forces for a force feedback control, the method comprising: outputting a first force for a first detent on a knob contacted by a user and moveable in a rotary degree of freedom, said first force being output when said knob is moved within a range of said first detent, said first force being output by a electronically-controlled actuator, wherein said first force assists movement of said knob toward an origin position of said first detent and wherein said first force resists movement of said knob away from said origin position of said first detent; and outputting a second force for a second detent on said knob when said knob is moved within a range of said second detent, said second force being output by said actuator and said second detent having an origin position different from said origin position of said first detent, wherein said second force assists movement of said knob toward an origin position of said second detent and wherein said second force resists movement of said knob away from said origin position of said second detent, wherein a portion of said range of said first detent overlaps a portion of said range of said second detent.
Claim 81
Dependent Claim
71 words
A method as recited in claim 70 wherein when said user manipulatable object is moved in a particular direction from said first detent to said second detent, said first detent range has an endpoint positioned after a beginning point of said second detent range such that a force at said beginning point of said second detent range has less magnitude than a force at an endpoint of said second detent range.
Claim 82
Dependent Claim
66 words
A method as recited in claim 71 wherein said first force for said first detent has a magnitude that increases the further that said user manipulatable object is positioned from said origin of said first detent, and wherein said second force for said second detent has a magnitude that increases the further that said user manipulatable object is positioned from said origin of said second detent.
Claim 83
Dependent Claim
22 words
A method as recited in claim 71 wherein said first detent range does not overlap past said origin of said second detent.
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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 |