US6437771B1
Expired / Lapsed
US
⏱️ 0.0 years remaining
Force feedback device including flexure member between actuator and user object
Assignee: Immersion Corp
•
Filing: 2000-03-22
•
Granted: 2002-08-20
•
Expires: 2020-03-22
Abstract
Abstract A method and apparatus for providing force sensations in virtual environments includes a human/computer interface device and method used in conjunction with a host computer and which can provide feel sensations to a user of the device. A user manipulatable object physically contacted by a user, such as a joystick, stylus, pool cue, or other object, is movable in multiple degrees of freedom using a gimbal mechanism. A local microprocessor, separate from the host computer, enables communication with the host computer and receives commands from the host, decodes the commands, outputs actuator signals in accordance with commands, receives sensor signals, and reports data to the host in response to commands. Actuators generate feel sensations by providing a force on the user object in response to actuator signals from the local microprocessor, and sensors detect the motion of the user object and reports sensor signals to the local microprocessor. Memory is included locally to the local microprocessor for storing program instructions and routines enabling feel sensations and host-microprocessor communication. The feel sensation generated on the user is, in one embodiment, a damping sensation simulating a feel of motion through a fluid. In another embodiment, the feel sensation is a wall sensation simulating the feel of impacting a surface or obstruction.
Inventors
- 👤 Louis B. Rosenberg
- 👤 Bernard G. Jackson
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 14:47
CPC Classifications
G; G06; G06F; G06F3/00; G06F3/01; G06F3/016; A; A63; A63F; A63F13/00; A63F13/20; A63F13/24; A63F13/245; A63F13/25; A63F13/28; A63F13/285; A63F13/80; A63F13/803; G01; G01B; G01B21/00; G01B21/02; G01B21/04; G01B5/00; G01B5/004; G01B5/008; G05; G05G; G05G9/00; G05G9/02; G05G9/04; G05G9/047; G06F3/011; 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; A63F2300/1037; A63F2300/1043; A63F2300/1062; A63F2300/80; A63F2300/8017; G05G2009/0474; G05G2009/04766; G05G9/04737; G06F2203/00; G06F2203/01; G06F2203/015
Claims Analysis
Total Claims: 31
Claim 1
Independent Claim
286 words
An interface device used in conjunction with a host computer for monitoring user manipulations and for enabling the simulation of feel sensations in response to said user manipulations, said feel sensations generated in accordance with application software running on said host computer and in accordance with images output on a computer display device by said host computer, said interface device comprising: a user object being physically contacted by a user and movable in at least two degrees of freedom by said user; at least one sensor that detects motion of said user object along said degrees of freedom with respect to a ground surface, wherein said at least one sensor outputs output sensor signals representative of said motion of said user object; an actuator coupled to said user object and generating at least one of a plurality of feel sensations by outputting a force that is transmitted to said user object; a flexure member coupled and providing torsional flex between said user object and said actuator in at least one of said degrees of freedom, said flexure member flexing to allow said user object to move with respect to said actuator; a local microprocessor separate from said host computer system for enabling communication with said host computer, for receiving commands from said host computer, for controlling said feel sensations in accordance with one or more of said commands, for reading said sensor signals, and for reporting sensor data based on said sensor signals to said host computer, said local microprocessor controlling feel sensations simultaneously with said software running on said host computer; and a communication interface for transmitting signals from said host computer to said local microprocessor and from said local microprocessor to said host computer.
Claim 2
Dependent Claim
286 words
An interface device used in conjunction with a host computer for monitoring user manipulations and for enabling the simulation of feel sensations in response to said user manipulations, said feel sensations generated in accordance with application software running on said host computer and in accordance with images output on a computer display device by said host computer, said interface device comprising: a user object being physically contacted by a user and movable in at least two degrees of freedom by said user; at least one sensor that detects motion of said user object along said degrees of freedom with respect to a ground surface, wherein said at least one sensor outputs output sensor signals representative of said motion of said user object; an actuator coupled to said user object and generating at least one of a plurality of feel sensations by outputting a force that is transmitted to said user object; a flexure member coupled and providing torsional flex between said user object and said actuator in at least one of said degrees of freedom, said flexure member flexing to allow said user object to move with respect to said actuator; a local microprocessor separate from said host computer system for enabling communication with said host computer, for receiving commands from said host computer, for controlling said feel sensations in accordance with one or more of said commands, for reading said sensor signals, and for reporting sensor data based on said sensor signals to said host computer, said local microprocessor controlling feel sensations simultaneously with said software running on said host computer; and a communication interface for transmitting signals from said host computer to said local microprocessor and from said local microprocessor to said host computer.
Claim 3
Dependent Claim
38 words
An interface device as recited in claim 1 wherein said actuator is a passive brake providing a resistance to motion of said user object in one of said degrees of freedom , said motion caused by said user.
Claim 4
Dependent Claim
31 words
An interface device as recited in claim 2 wherein said flexure member is a play mechanism that provides a desired amount of play between said user object and said passive brake.
Claim 5
Dependent Claim
38 words
An interface device as recited in claim 1 wherein said degree of freedom is a rotary degree of freedom and wherein said flexure member provides said torsional flex to said user object in said rotary degree of freedom.
Claim 6
Dependent Claim
17 words
An interface device as recited in claim 1 wherein said actuator is coupled to said ground surface.
Claim 7
Dependent Claim
42 words
An interface device as recited in claim 1 wherein said actuator is one of a plurality of actuators, wherein said local microprocessor sends actuator signals to said actuators in response to one or more of said commands to control said feel sensations.
Claim 8
Dependent Claim
28 words
An interface device as recited in claim 1 wherein one of said feel sensations includes a damping sensation simulating the feel of motion-through a fluid or similar medium.
Claim 9
Dependent Claim
35 words
An interface device as recited in claim 1 wherein a damping constant is initialized by said local microprocessor, said damping constant indicating the degree of resistance experienced by said user when moving said user object.
Claim 10
Dependent Claim
62 words
An interface device as recited in claim 8 wherein a current position of said user object is stored by said local microprocessor, and wherein a difference between a current position value and a previous position value of said user object is determined, wherein a sign of said difference is used as an indication of a direction of motion of said user object.
Claim 11
Dependent Claim
26 words
An interface device as recited in claim 9 wherein a variable representing force output is computed as a function of said damping constant and said difference.
Claim 12
Dependent Claim
15 words
An interface device as recited in claim 1 wherein said user object is a joystick.
Claim 13
Dependent Claim
24 words
An interface device as recited in claim 1 further including a transmission mechanism connecting said actuator to said user object for providing mechanical advantage.
Claim 14
Dependent Claim
252 words
A force feedback interface device used in conjunction with a host computer for monitoring user manipulations and for enabling the simulation of feel sensations in response to said user manipulations, said feel sensations generated in accordance with application software running on said host computer and in accordance with images output on a computer display device by said host computer, said interface device comprising: a user object being physically contacted by a user and movable in at least one degree of freedom by said user; at least one sensor that detects motion of said user object in said degree of freedom with respect to a ground surface, wherein said at least one sensor outputs sensor signals representative of said motion of said user object; an actuator generating at least one of a plurality of different types of feel sensations by outputting forces that are transmitted to said user object; a flexure member coupled between said user object and said actuator, said flexure member providing torsional flex between said actuator and said user object, wherein said flexure member flexes to allow said user object to move with respect to said actuator; and a local microprocessor separate from said host computer that enables communication with said host computer, receives data from said host computer, controls feel sensations in accordance with said data, reads said sensor signals, and reports sensor data based on said sensor signals to said host computer, said local microprocessor controlling said feel sensations simultaneously with said software running on said host computer.
Claim 15
Dependent Claim
252 words
A force feedback interface device used in conjunction with a host computer for monitoring user manipulations and for enabling the simulation of feel sensations in response to said user manipulations, said feel sensations generated in accordance with application software running on said host computer and in accordance with images output on a computer display device by said host computer, said interface device comprising: a user object being physically contacted by a user and movable in at least one degree of freedom by said user; at least one sensor that detects motion of said user object in said degree of freedom with respect to a ground surface, wherein said at least one sensor outputs sensor signals representative of said motion of said user object; an actuator generating at least one of a plurality of different types of feel sensations by outputting forces that are transmitted to said user object; a flexure member coupled between said user object and said actuator, said flexure member providing torsional flex between said actuator and said user object, wherein said flexure member flexes to allow said user object to move with respect to said actuator; and a local microprocessor separate from said host computer that enables communication with said host computer, receives data from said host computer, controls feel sensations in accordance with said data, reads said sensor signals, and reports sensor data based on said sensor signals to said host computer, said local microprocessor controlling said feel sensations simultaneously with said software running on said host computer.
Claim 16
Dependent Claim
32 words
A force feedback interface device as recited in claim 13 wherein said actuator is a passive brake providing a resistance to motion of said user object, said motion caused by said user.
Claim 17
Dependent Claim
33 words
A force feedback interface device as recited in claim 14 wherein said flexure member is a play member that provides a predetermined amount of play between said user object and said passive brake.
Claim 18
Dependent Claim
28 words
A force feedback interface device as recited in claim 15 wherein said predetermined amount of play is equal to or greater than a sensing resolution of said sensor.
Claim 19
Dependent Claim
19 words
A force feedback interface device as recited in claim 13 wherein said sensor is coupled to said ground surface.
Claim 20
Dependent Claim
39 words
A force feedback interface device as recited in claim 13 wherein said degree of freedom is a rotary degree of freedom and wherein said flexure member provides torsion flex to said user object in said rotary degree of freedom.
Claim 21
Dependent Claim
19 words
A force feedback interface device as recited in claim 17 wherein said actuator is coupled to said ground surface.
Claim 22
Dependent Claim
27 words
A force feedback interface device as recited in claim 13 wherein said data from said host computer includes commands, and wherein said local microprocessor decodes said commands.
Claim 23
Dependent Claim
96 words
A force feedback interface device as recited in claim 13 further comprising memory local to said local microprocessor for storing program instructions, said program instructions including routines that set communication parameters to enable communication between said local microprocessor and said host, decode said data from said host computer, report sensor data to said host computer based on said sensor signals, and generate said feel sensations, wherein said feel sensations are generated in accordance with said software running on said host computer and in accordance with images displayed by said host computer on said computer display device.
Claim 24
Independent Claim
148 words
An apparatus for interfacing the motion of an object with a computer system compnsing: a sensor for detecting movement of said object along a degree of freedom, said sensor having a sensing resolution and being operative to develop an electrical sensor signal for said electrical system; and an actuator assembly coupled to said object, said actuator assembly including: an actuator for transmiting a force to said object along said degree of freedom, said actuator being responsive to an electrical actuator signal provided by said electrical system; and a torsion spring coupled between said actuator and said object for providing an amount of spring flex between said actuator and said object along said degree of freedom, wherein said amount of spring flex is equal to or greater than said sensing resolution, such that said actuator and said sensor provide an electromechanical interface between said object and said computer system.
Claim 25
Independent Claim
148 words
An apparatus for interfacing the motion of an object with a computer system compnsing: a sensor for detecting movement of said object along a degree of freedom, said sensor having a sensing resolution and being operative to develop an electrical sensor signal for said electrical system; and an actuator assembly coupled to said object, said actuator assembly including: an actuator for transmiting a force to said object along said degree of freedom, said actuator being responsive to an electrical actuator signal provided by said electrical system; and a torsion spring coupled between said actuator and said object for providing an amount of spring flex between said actuator and said object along said degree of freedom, wherein said amount of spring flex is equal to or greater than said sensing resolution, such that said actuator and said sensor provide an electromechanical interface between said object and said computer system.
Claim 26
Dependent Claim
35 words
An apparatus as recited in claim 22 wherein said actuator includes a passive acutator and wherein said force transmitted to said object includes drag transmitted to said object to resist a movement of said object.
Claim 27
Dependent Claim
24 words
An apparatus as recited in claim 23 wherein an amount of play less than said sensing resolution exists between said sensor and said object.
Claim 28
Dependent Claim
26 words
An apparatus as recited in claim 24 wherein said play between sensor and object is at least an order of magnitude less than said sensing resolution.
Claim 29
Dependent Claim
16 words
An apparatus as recited in claim 25 wherein said sensor is rigidly coupled to said mechanism.
Claim 30
Dependent Claim
20 words
An apparatus as recited in claim 25 further comprising a support mechanism coupled between said object and said actuator assembly.
Claim 31
Dependent Claim
28 words
An apparatus as recited in claim 25 further comprising a slotted yoke mechanism coupled between said object and said actuator assembly and between said object and said sensor.
References Cited (Backward Citations)
US3919691A
Cited
US3832895A
Cited
US4050265A
Cited
US4414984A
Cited
US4794388A
Cited
US4448083A
Cited
EP0085518A1
Cited
US4477043A
Cited
US4538035A
Cited
US4550617A
Cited
US4489304A
Cited
US4604016A
Cited
US4603284A
Cited
US4712971A
Cited
US5103404A
Cited
US4811608A
Cited
US5591924A
Cited
EP0265011A1
Cited
US4879556A
Cited
US4800721A
Cited
US4868549A
Cited
US4758692A
Cited
US4874998A
Cited
US4823634A
Cited
US4861269A
Cited
US4962448A
Cited
US4949119A
Cited
US5044956A
Cited
US5007300A
Cited
US4983901A
Cited
US5076517A
Cited
US4961038A
Cited
US5452615A
Cited
US5107080A
Cited
US5184319A
Cited
US5107719A
Cited
US5296846A
Cited
US5193963A
Cited
US5781172A
Cited
US5223776A
Cited
US5142931A
Cited
US5354162A
Cited
US5146566A
Cited
US5351412A
Cited
US5185561A
Cited
US5235868A
Cited
US5220260A
Cited
US5889670A
Cited
US5414337A
Cited
US5228356A
Cited
US5831596A
Cited
US5277281A
Cited
US5296871A
Cited
US5264768A
Cited
US5286203A
Cited
US5666473A
Cited
US5790108A
Cited
US5629594A
Cited
US5844392A
Cited
US5769640A
Cited
US5355148A
Cited
EP0626634A2
Cited
US5396266A
Cited
US5405152A
Cited
US5513100A
Cited
US5576727A
Cited
US5739811A
Cited
US5734373A
Cited
US5805140A
Cited
US5880714A
Cited
US5625576A
Cited
US5828363A
Cited
US5577981A
Cited
US5709219A
Cited
US5742278A
Cited
US5482051A
Cited
US5656901A
Cited
US6004134A
Cited
US5643087A
Cited
US5623582A
Cited
US5821920A
Cited
US5642469A
Cited
US5666138A
Cited
US5714978A
Cited
US5731804A
Cited
US5721566A
Cited
US5784052A
Cited
US5755577A
Cited
US5984785A
Cited
US5847528A
Cited
US5589854A
Cited
US5694153A
Cited
US5724068A
Cited
US5691898A
Cited
US5754023A
Cited
US6275213B1
Cited
US6028593A
Cited
US5914705A
Cited
US5802353A
Cited
US5821921A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2005-08-19 | 2006-02-18 | 2006-08-20 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2009-08-19 | 2010-02-18 | 2010-08-20 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2013-08-19 | 2014-02-18 | 2014-08-20 | $7700.00 | Window Closed / Lapsed |