US6195592B1
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method and apparatus for providing tactile sensations using an interface device
Assignee: Immersion Corp
•
Filing: 1999-03-23
•
Granted: 2001-02-27
•
Expires: 2019-03-23
Abstract
Abstract A method and apparatus implementing a user interface device, such as a mouse or trackball, having electronically controllable tactile responsiveness which is flexibly programmable. A user interface device effects positioning of a cursor within a limited area, such as on a display screen, with limits imposed by controllable tactile responsiveness. Programmable force-position characteristics relate the tactile responsiveness of the interface device to the position of the cursor within the limited area or on the display screen. In a described embodiment, the interface device includes at least two sets of wheels that move as the interface device is actuated. The at least two sets of wheels are aligned on mutually orthogonal axes. A servo motor is attached to each of the at least two sets of wheels. A position encoder is associated with each servo motor and outputs position information to a controller that has access to force-position relation information that is a function of a screen display on which the cursor is manipulated. The controller outputs a digital signal, in accordance with the force-display position relation information. The digital signal is converted to an analog current signal applied to the servo motor(s) to generate force in the servo motor. The force, presenting a tactile response to a human interacting with the user interface device, is perceived as a resistance, tactile pressure or lack thereof, or as a positive, assisted motion which is indicative of position on a screen display.
Inventors
- 👤 Chester L. Schuler
- 👤 Seth M. Haberman
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 12:43
CPC Classifications
G; G06; G06F; G06F3/00; G06F3/01; G06F3/016; G05; G05B; G05B19/00; G05B19/02; G05B19/04; G05B19/10; G05B19/106; G05B19/108; G05B19/18; G05B19/19; G05B19/21; G05B19/23; G05B19/231; G06F3/011; G06F3/03; G06F3/033; G06F3/0354; G06F3/03543; G06F3/03549; G06F3/0362; G11; G11B; G11B27/00; G11B27/02; G11B27/022; G11B27/028; G11B27/031; G11B27/034; G11B27/10; G11B27/34; G05B2219/00; G05B2219/20; G05B2219/23; G05B2219/23053; G05B2219/30; G05B2219/35; G05B2219/35459; G05B2219/37; G05B2219/37396; G05B2219/43; G05B2219/43186; G05B2219/45; G05B2219/45184; G06F2203/00; G06F2203/01; G06F2203/014; H; H01; H01H; H01H3/00; H01H2003/008
Claims Analysis
Total Claims: 37
Claim 1
Independent Claim
183 words
A method of providing an interface device for use with a host computer, said interface device providing selectively programmable tactile sensations, said method comprising: providing a grippable member in said interface device to be engaged and manipulated by a user; providing a motor in said interface device that produces a tactile sensation felt by said user via said interface device; providing a tactile control microprocessor in communication with said host computer via a communication link, said host computer running a host software application, said tactile control microprocessor for controlling said motor in accordance with the requirements of said host software application; providing local memory accessible by said tactile control microprocessor; receiving tactile data from said host computer and storing a representation of said tactile data in said local memory, said tactile data defining a desired tactile sensation to be generated by said interface device; and providing firmware run by said tactile control microprocessor, said firmware using said tactile data to influence control of said motor so as to produce said desired tactile sensation in accordance with said requirements of said main software application.
Claim 2
Independent Claim
183 words
A method of providing an interface device for use with a host computer, said interface device providing selectively programmable tactile sensations, said method comprising: providing a grippable member in said interface device to be engaged and manipulated by a user; providing a motor in said interface device that produces a tactile sensation felt by said user via said interface device; providing a tactile control microprocessor in communication with said host computer via a communication link, said host computer running a host software application, said tactile control microprocessor for controlling said motor in accordance with the requirements of said host software application; providing local memory accessible by said tactile control microprocessor; receiving tactile data from said host computer and storing a representation of said tactile data in said local memory, said tactile data defining a desired tactile sensation to be generated by said interface device; and providing firmware run by said tactile control microprocessor, said firmware using said tactile data to influence control of said motor so as to produce said desired tactile sensation in accordance with said requirements of said main software application.
Claim 3
Dependent Claim
64 words
A method as recited in claim 1 wherein multiple sets of tactile data are received from said host computer and stored simultaneously in said local memory, each set of said tactile data describing a different desired tactile sensation, wherein each of said sets of tactile data are independently selectable by said tactile control microprocessor in accordance with said requirements of said host software application.
Claim 4
Dependent Claim
42 words
A method as recited in claim 2 wherein said sets of tactile data are stored in a table within said local memory, wherein a particular tactile sensation is selected from said table in accordance with said requirements of said host software application.
Claim 5
Dependent Claim
57 words
A method as recited in claim 1 wherein said motor is a first motor, and further comprising providing a second motor in said interface device such that said tactile control microprocessor can modulate a force output by both said first and second motors, said first and second motors working in conjunction to produce said desired tactile sensation.
Claim 6
Dependent Claim
20 words
A method as recited in claim 1 further comprising providing a sensor to track a position of said grippable member.
Claim 7
Dependent Claim
44 words
A method as recited in claim 5 wherein said tactile control microprocessor reads a sensor signal from said sensor and modulates said force output by said motor with respect to said position and in accordance with said tactile data stored in said local memory.
Claim 8
Dependent Claim
29 words
A method as recited in claim 6 wherein said microprocessor derives velocity data from said sensor signal and uses said velocity data when modulating the force upon said motor.
Claim 9
Dependent Claim
33 words
A method as recited in claim 1 wherein default tactile data is stored in said local memory upon power up of said interface device prior to receiving tactile data from said host computer.
Claim 10
Dependent Claim
15 words
A method as recited in claim 1 wherein said tactile data includes a torque value.
Claim 11
Dependent Claim
15 words
A method as recited in claim 1 wherein said tactile data includes a torque profile.
Claim 12
Dependent Claim
14 words
A method as recited in claim 1 wherein said tactile data includes a position.
Claim 13
Dependent Claim
17 words
A method as recited in claim 1 wherein said tactile data describes a feel of a detent.
Claim 14
Dependent Claim
29 words
A method as recited in claim 1 wherein said tactile data describes a feel of a progressively increasing force as said grippable member is moved in a particular direction.
Claim 15
Dependent Claim
22 words
A method as recited in claim 1 wherein said tactile data describes a feel of said grippable member hitting a hard stop.
Claim 16
Dependent Claim
29 words
A method as recited in claim 1 wherein said tactile data includes a selectable number of detents to be felt by the user as said grippable member is manipulated.
Claim 17
Dependent Claim
169 words
An interface device for use with a host computer, said interface device having selectively programmable tactile responsiveness, said interface device comprising; a grippable member to be engaged and manipulated by a user; a motor coupled to said interface device that produces a tactile sensation felt by said user; a local memory, wherein tactile data from said host computer is stored in said local memory, said tactile data describing said tactile sensation to be produced by said motor; and a tactile control microprocessor in communication with said host computer via a communication link and coupled to said local memory, said host computer running a host software application, said tactile control microprocessor controlling said motor in accordance with the requirements of said host software application, wherein firmware is run by said tactile control microprocessor, said firmware accessing said tactile data from said memory and using said tactile data to influence control of said motor so as to produce said tactile sensation in accordance with said requirements of said main software application.
Claim 18
Dependent Claim
169 words
An interface device for use with a host computer, said interface device having selectively programmable tactile responsiveness, said interface device comprising; a grippable member to be engaged and manipulated by a user; a motor coupled to said interface device that produces a tactile sensation felt by said user; a local memory, wherein tactile data from said host computer is stored in said local memory, said tactile data describing said tactile sensation to be produced by said motor; and a tactile control microprocessor in communication with said host computer via a communication link and coupled to said local memory, said host computer running a host software application, said tactile control microprocessor controlling said motor in accordance with the requirements of said host software application, wherein firmware is run by said tactile control microprocessor, said firmware accessing said tactile data from said memory and using said tactile data to influence control of said motor so as to produce said tactile sensation in accordance with said requirements of said main software application.
Claim 19
Dependent Claim
65 words
An interface device as recited in claim 16 wherein multiple sets of tactile data are received from said host computer and stored simultaneously in said local memory, each set of said tactile data describing a different desired tactile sensation, wherein each of said sets of tactile data are independently selectable by said tactile control microprocessor in accordance with said requirements of said host software application.
Claim 20
Dependent Claim
57 words
An interface device as recited in claim 16 wherein said motor is a first motor, and further comprising providing a second motor in said interface device such that said tactile control microprocessor can modulate a force output by both said first and second motors, said first and second motors working in conjunction to produce said tactile sensation.
Claim 21
Dependent Claim
19 words
An interface device as recited in claim 16 further comprising a sensor tracking a position of said grippable member.
Claim 22
Dependent Claim
45 words
An interface device as recited in claim 19 wherein said tactile control microprocessor reads a sensor signal from said sensor and modulates said force output by said motor with respect to said position and in accordance with said tactile data stored in said local memory.
Claim 23
Dependent Claim
22 words
An interface device as recited in claim 19 wherein said motor is a servo motor and said sensor is an optical encoder.
Claim 24
Dependent Claim
26 words
An interface device as recited in claim 16 wherein said tactile data includes at least one of a torque value, a torque profile, and a position.
Claim 25
Dependent Claim
15 words
An interface device as recited in claim 16 wherein said grippable member is a knob.
Claim 26
Dependent Claim
30 words
An interface device as recited in claim 16 wherein said tactile data describes a feel of a progressively increasing force as said grippable member is moved in a particular direction.
Claim 27
Dependent Claim
19 words
An interface device as recited in claim 16 wherein said local memory is external to said tactile control microprocessor.
Claim 28
Dependent Claim
19 words
An interface device as recited in claim 16 wherein said local memory is resident on said tactile control microprocessor.
Claim 29
Dependent Claim
185 words
An interface device for use with a host computer, said interface device enabling programmable tactile responsiveness, said interface device comprising: an engageable member to be engaged and manipulated by a user; a motor coupled to said interface device such that controlling a current through said motor produces a tactile sensation felt by said user operating said interface device; a local memory, wherein tactile data from said host computer is stored in said local memory, said tactile data used in describing said tactile sensation to be generated by the interface device; and a tactile control microcontroller separate from and in communication with said host computer via a communication link and coupled to said local memory, said host computer running a host software application, said tactile control microcontroller controlling said motor in accordance with the requirements of said host software application, wherein firmware is run by said tactile control microcontroller, said firmware accessing said tactile data from said memory and using said tactile data to influence control of said motor so as to produce said tactile sensation in accordance with said requirements of said main software application.
Claim 30
Dependent Claim
185 words
An interface device for use with a host computer, said interface device enabling programmable tactile responsiveness, said interface device comprising: an engageable member to be engaged and manipulated by a user; a motor coupled to said interface device such that controlling a current through said motor produces a tactile sensation felt by said user operating said interface device; a local memory, wherein tactile data from said host computer is stored in said local memory, said tactile data used in describing said tactile sensation to be generated by the interface device; and a tactile control microcontroller separate from and in communication with said host computer via a communication link and coupled to said local memory, said host computer running a host software application, said tactile control microcontroller controlling said motor in accordance with the requirements of said host software application, wherein firmware is run by said tactile control microcontroller, said firmware accessing said tactile data from said memory and using said tactile data to influence control of said motor so as to produce said tactile sensation in accordance with said requirements of said main software application.
Claim 31
Dependent Claim
25 words
An interface device as recited in claim 27 further comprising a sensor coupled to said engageable member and tracking a position of said engageable member.
Claim 32
Dependent Claim
56 words
An interface device as recited in claim 27 wherein said motor is a first motor, and further comprising providing a second motor in said interface device such that said tactile control microcontroller controls a force output by both said first and second motors, said first and second motors working in conjunction to produce said tactile sensation.
Claim 33
Dependent Claim
38 words
An interface device as recited in claim 27 wherein multiple sets of tactile data are received from said host computer and stored simultaneously in said local memory, each set of said tactile data describing a different tactile sensation.
Claim 34
Dependent Claim
19 words
An interface device as recited in claim 27 wherein said local memory is external to said tactile control microcontroller.
Claim 35
Dependent Claim
19 words
An interface device as recited in claim 27 wherein said local memory is resident on said tactile control microcontroller.
Claim 36
Independent Claim
181 words
A method of providing an interface device for use with a host computer, said interface device providing selectively programmable tactile sensations, said method comprising: providing a grippable member in said interface device to be engaged and manipulated by a user; providing a motor in said interface device that produces a tactile sensation felt by said user via said interface device; providing a tactile control microprocessor in communication with said host computer via a communication link, said host computer running a host software application, said tactile control microprocessor controlling said motor in accordance with the requirements of said host software application, receiving tactile data from said host computer, and storing said tactile data, said tactile data determining a desired tactile sensation to be generated by said interface device, and wherein said microprocessor uses said tactile data to influence control of said motor so as to produce said desired tactile sensation in accordance with said requirements of said main software application; and providing local memory accessible by said tactile control microprocessor, wherein said local microprocessor stores said tactile data in said local memory.
Claim 37
Independent Claim
181 words
A method of providing an interface device for use with a host computer, said interface device providing selectively programmable tactile sensations, said method comprising: providing a grippable member in said interface device to be engaged and manipulated by a user; providing a motor in said interface device that produces a tactile sensation felt by said user via said interface device; providing a tactile control microprocessor in communication with said host computer via a communication link, said host computer running a host software application, said tactile control microprocessor controlling said motor in accordance with the requirements of said host software application, receiving tactile data from said host computer, and storing said tactile data, said tactile data determining a desired tactile sensation to be generated by said interface device, and wherein said microprocessor uses said tactile data to influence control of said motor so as to produce said desired tactile sensation in accordance with said requirements of said main software application; and providing local memory accessible by said tactile control microprocessor, wherein said local microprocessor stores said tactile data in said local memory.
References Cited (Backward Citations)
US3919691A
Cited
US3875488A
Cited
US4398889A
Cited
US4436188A
Cited
EP0085518A1
Cited
US4560983A
Cited
US4939594A
Cited
US4538035A
Cited
US4604016A
Cited
US4937685A
Cited
US4685003A
Cited
US4979050A
Cited
US4964004A
Cited
US4706294A
Cited
US5591924A
Cited
US4837734A
Cited
US4803413A
Cited
US4853874A
Cited
US4800721A
Cited
US4868549A
Cited
US4896554A
Cited
US4907970A
Cited
US5107262A
Cited
US5044956A
Cited
US5116051A
Cited
US4949119A
Cited
US5076517A
Cited
US5182557A
Cited
US5107080A
Cited
US5072361A
Cited
US5184319A
Cited
US5113179A
Cited
US5095303A
Cited
US5197003A
Cited
US5634794A
Cited
US5435729A
Cited
US5209661A
Cited
US5781172A
Cited
US5223776A
Cited
US5204600A
Cited
US5142931A
Cited
US5143505A
Cited
US5203563A
Cited
US5543821A
Cited
US5275565A
Cited
US5146566A
Cited
US5185561A
Cited
US5186629A
Cited
US5889672A
Cited
US5559412A
Cited
US5414337A
Cited
US5889670A
Cited
US5381080A
Cited
US5559432A
Cited
US5589828A
Cited
US5189355A
Cited
US5368484A
Cited
US5366376A
Cited
US5280276A
Cited
US5264768A
Cited
US5286203A
Cited
US5666473A
Cited
US5790108A
Cited
US5389865A
Cited
US5629594A
Cited
US5396266A
Cited
US5805140A
Cited
US5880714A
Cited
US5701140A
Cited
US5734373A
Cited
US5739811A
Cited
US5625576A
Cited
US5691747A
Cited
US5577981A
Cited
US5742278A
Cited
US5709219A
Cited
WO1995020787A1
Cited
US5643087A
Cited
WO1995032459A1
Cited
US5623582A
Cited
US5642469A
Cited
US5714978A
Cited
US5767839A
Cited
US5721566A
Cited
US5589854A
Cited
WO1997020305A1
Cited
WO1997021160A2
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2004-02-27 | 2004-08-28 | 2005-02-27 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2008-02-27 | 2008-08-28 | 2009-02-27 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2012-02-27 | 2012-08-28 | 2013-02-27 | $7700.00 | Window Closed / Lapsed |