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公开(公告)号：US08552982B2
公开(公告)日：2013-10-08
申请号：US10657854
申请日：2003-09-09
IPC分类号： G09G5/08
CPC分类号： A63F13/22 , A63F13/06 , A63F13/21 , A63F13/285 , A63F2300/1037 , A63F2300/1043
摘要： Improvements in accurately sensing a user manipulandum of a force feedback device. A force feedback device, coupled to a host computer, includes an actuator for outputting forces on a manipulandum and a sensor for detecting a position of the manipulandum. In one feature, a raw sensor value representing manipulandum position is adjusted based on compliance between sensor and manipulandum, where the adjustment can be based on a compliance constant and an output force. In another feature, a range of motion of the manipulandum is dynamically calibrated from startup. One boundary value of an assigned initial range is set equal to a received sensor value if the sensor value is outside the initial range, and the other boundary value is adjusted to maintain the size of the initial range unless the other boundary value has already been sensed outside the initial range. In another feature, manipulandum position is accurately sensed by filtering raw sensor values for overshoot values occurring at limits to manipulandum motion and using the filtered value in the dynamic calibration. In another feature, sensing inaccuracies caused by compliance in the device are decreased by normalizing a raw sensor value to a normalized range of motion that includes a saturation zone at each end of the range that adjusts sensor values over a saturation level to the saturation level.
摘要翻译： 精确感测用户操纵力反馈装置的改进。 耦合到主计算机的力反馈装置包括用于在操纵上输出力的致动器和用于检测操纵的位置的传感器。 在一个特征中，基于传感器和操纵之间的顺应度来调整表示操纵位置的原始传感器值，其中调整可以基于顺从性常数和输出力。 在另一个特征中，操作的运动范围从启动动态校准。 如果传感器值在初始范围之外，则分配的初始范围的一个边界值被设置为等于接收到的传感器值，并且另一边界值被调整以维持初始范围的大小，除非已经感测到另一个边界值 在初始范围之外。 在另一个特征中，通过过滤原始传感器值以便在操纵力运动的限制下发生的过冲值并且使用动态校准中的滤波值来精确地感测到操纵性位置。 在另一个特征中，通过将原始传感器值归一化为归一化的运动范围来降低感测由装置中的顺应性引起的不准确度，该归一化运动范围包括在将饱和电平上的传感器值调整到饱和度的范围的每个端点处的饱和区域。
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公开(公告)号：US08070654B2
公开(公告)日：2011-12-06
申请号：US11269161
申请日：2005-11-07
IPC分类号： A63B71/00
CPC分类号： A63B71/0619 , A63B24/0006 , A63B24/0062 , A63B71/06 , A63B71/0616 , A63B2024/0009 , A63B2024/0012 , A63B2024/0065 , A63B2024/0068 , A63B2024/0071 , A63B2071/026 , A63B2071/0661 , A63B2071/0663 , A63B2102/18 , A63B2220/12 , A63B2220/13 , A63B2220/805 , A63B2225/093 , A63B2225/15 , A63B2225/20 , A63B2225/50 , A63B2243/0025 , A63B2243/0037 , A63B2243/0066 , A63B2243/007 , G06F1/1626 , G06F19/00 , G07C1/22
摘要： A universal athleticism rating system and related athletic performance measuring systems for accurately detecting and recording athletic performance are disclosed. The athleticism rating system evaluates individual athletes against a common, standardized, set of athletic performance tests. Each athlete performs the athletic tests and his or her scores in the individual tests are entered into a standardized calculation to produce a single athletic performance score. The related performance measuring system is preferably a timing system that ensures quick, easy, and accurate collection of athletic event timing related data without the need for the athlete to wear any special detection devices or the like. In a preferred embodiment, the performance measuring system integrates with the rating system to provide seamless athletic data collection and rating of athletes.
摘要翻译： 公开了一种用于准确检测和记录运动表现的通用运动能力评定系统和相关运动表现测量系统。 运动能力评估系统评估个体运动员采取普遍，标准化的运动表现测试。 每个运动员进行运动测试，并且他们在单独测试中的分数被输入到标准化计算中以产生单个运动成绩。 相关的性能测量系统优选地是确定快速，容易和准确地收集运动事件时间相关数据的定时系统，而不需要运动员佩戴任何特殊的检测装置等。 在优选实施例中，性能测量系统与评级系统集成，以提供对运动员的无缝运动数据收集和评级。
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23.发明授权公开(公告)号：US07916121B2
公开(公告)日：2011-03-29
申请号：US12364644
申请日：2009-02-03
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/04766 , G06F3/011 , G06F2203/015 , G09B9/28
摘要： A hybrid haptic feedback system in which a host computer and haptic feedback device share processing loads to various degrees in the output of haptic sensations, and features for efficient output of haptic sensations in such a system. A haptic feedback interface device in communication with a host computer includes a device microcontroller outputting force values to the actuator to control output forces. In various embodiments, the microcontroller can determine force values for one type of force effect while receiving force values computed by the host computer for a different type of force effect. For example, the microcontroller can determine closed loop effect values and receive computed open loop effect values from the host; or the microcontroller can determine high frequency open loop effect values and receive low frequency open loop effect values from the host. Various features allow the host to efficiently stream computed force values to the device.
摘要翻译： 一种混合触觉反馈系统，其中主计算机和触觉反馈装置在触觉感觉的输出中共享处理各种程度的加载，以及用于在这种系统中有效输出触觉感觉的特征。 与主计算机通信的触觉反馈接口装置包括向致动器输出力值以控制输出力的装置微控制器。 在各种实施例中，微控制器可以在接收由主计算机为不同类型的力效应计算的力值时确定一种类型的力效应的力值。 例如，微控制器可以确定闭环效应值并从主机接收计算的开环效应值; 或者微控制器可以确定高频开环效应值并从主机接收低频开环效应值。 各种功能允许主机有效地将计算的力值流传输到设备。
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24.发明授权公开(公告)号：US07327348B2
公开(公告)日：2008-02-05
申请号：US10641243
申请日：2003-08-14
IPC分类号： G00G5/00
CPC分类号： G06F3/016 , A63F2300/1037 , B60K37/06 , B60K2350/102 , G05G1/02 , G05G1/08 , G05G9/047 , G05G2009/0477 , G06F3/0219 , G06F3/0354 , G06F3/0362 , G06F3/0395 , G06F3/0482 , G06F3/0485 , G06F2203/013 , G06F2203/014 , H01H25/008 , H01H25/06 , H01H2003/008 , Y10T74/20012
摘要： The present invention provides haptic sensations for a haptic feedback device and especially for a rotational device such as a knob. Force effects such as a hill force effect and barrier force effect allow easier selection of menu items, menus, values, or other options by the user. Force models are also described to allow greater selection functionality, such as a scrolling list with detents and rate control borders, a jog shuttle, a push-turn model, a double-push model, and a cast control model.
摘要翻译： 本发明提供了触觉反馈装置的触觉感觉，特别是用于诸如旋钮的旋转装置。 诸如山力效应和障碍力效应的力效应允许用户更容易地选择菜单项，菜单，值或其他选项。 还描述了强制模型以允许更多的选择功能，例如具有制动和速率控制边界的滚动列表，旋转梭，推挽模型，双推模型和铸造控制模型。
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25.发明授权
公开(公告)号：US5959613A
公开(公告)日：1999-09-28
申请号：US747841
申请日：1996-11-13
申请人： Louis B. Rosenberg , Adam C. Braun
发明人： Louis B. Rosenberg , Adam C. Braun
CPC分类号： G06F3/016 , A63F13/06 , A63F13/285 , G05G9/047 , G06F3/011 , G06F3/0383 , A63F13/23 , A63F2300/1025 , A63F2300/1037 , G05G2009/04766 , G05G2009/04777 , G06F2203/014 , G06F2203/015 , H01H2003/008 , H04L67/38
摘要： A method and apparatus for shaping force signals for a force feedback device. A source wave is provided and is defined by a set of control parameters (including a steady state magnitude, a frequency value and a duration value) and modified by a set of impulse parameters (including an impulse magnitude, and a settle time representing a time required for the impulse magnitude to change to the steady-state magnitude). Optionally, application parameters specifying a direction of force signal and trigger parameters specifying activating buttons can also be provided for the source wave. Using a host processor or a local processor, the force signal is formed from the source wave and the sets of control parameters and impulse parameters, where the force signal includes an impulse signal followed by a continual steady-state signal after an expiration of the settle time. A feel sensation is generated to a user of the force feedback device as physical forces produced by actuators on the force feedback device in response to the force signal. The steady-state magnitude value is lower than a magnitude value of a non-impulse-shaped force signal required to create a corresponding feel sensation having a similar apparent sensation to the user.
摘要翻译： 一种用于形成力反馈装置的力信号的方法和装置。 提供源波，并由一组控制参数（包括稳态幅度，频率值和持续时间值）定义，并由一组脉冲参数（包括脉冲幅度和表示时间的稳定时间） 脉冲幅度变为稳态幅度所需）。 可选地，也可以为源波提供指定力信号方向的应用参数和指定启动按钮的触发参数。 使用主处理器或本地处理器，力信号由源波形和控制参数和脉冲参数组形成，其中力信号包括脉冲信号，随后是稳定期满之后的连续稳态信号 时间。 对力反馈装置的使用者产生感觉，作为响应于力信号的力反馈装置上的致动器产生的物理力。 稳态幅度值低于产生具有与使用者相似的明显感觉的相应感觉所需的非冲击形状力信号的幅度值。
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26.发明授权公开(公告)号：US08917234B2
公开(公告)日：2014-12-23
申请号：US10686323
申请日：2003-10-15
CPC分类号： G06F3/016 , G06F3/0233 , G06F3/0482 , G06F3/04842
摘要： Products and processes for providing haptic feedback in a user interface device are disclosed. In one exemplary embodiment, a process comprises defining a first cell, mapping a first location of a matrix with the defined first cell, and mapping a second location of the matrix with the defined first cell. The first cell comprises a first parameter representing a first haptic effect.
摘要翻译： 公开了在用户界面设备中提供触觉反馈的产品和过程。 在一个示例性实施例中，过程包括定义第一小区，将矩阵的第一位置与所定义的第一小区进行映射，以及将矩阵的第二位置与所定义的第一小区进行映射。 第一单元包括表示第一触觉效果的第一参数。
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27.发明授权公开(公告)号：US08279172B2
公开(公告)日：2012-10-02
申请号：US13070134
申请日：2011-03-23
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/04766 , G06F3/011 , G06F2203/015 , G09B9/28
摘要： A hybrid haptic feedback system in which a host computer and haptic feedback device share processing loads to various degrees in the output of haptic sensations, and features for efficient output of haptic sensations in such a system. A haptic feedback interface device in communication with a host computer includes a device microcontroller outputting force values to the actuator to control output forces. In various embodiments, the microcontroller can determine force values for one type of force effect while receiving force values computed by the host computer for a different type of force effect. For example, the microcontroller can determine closed loop effect values and receive computed open loop effect values from the host; or the microcontroller can determine high frequency open loop effect values and receive low frequency open loop effect values from the host. Various features allow the host to efficiently stream computed force values to the device.
摘要翻译： 一种混合触觉反馈系统，其中主计算机和触觉反馈装置在触觉感觉的输出中共享处理各种程度的加载，以及用于在这种系统中有效输出触觉感觉的特征。 与主计算机通信的触觉反馈接口装置包括向致动器输出力值以控制输出力的装置微控制器。 在各种实施例中，微控制器可以在接收由主计算机为不同类型的力效应计算的力值时确定一种类型的力效应的力值。 例如，微控制器可以确定闭环效应值并从主机接收计算的开环效应值; 或者微控制器可以确定高频开环效应值并从主机接收低频开环效应值。 各种功能允许主机有效地将计算的力值流传输到设备。
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公开(公告)号：US20110251824A1
公开(公告)日：2011-10-13
申请号：US13168652
申请日：2011-06-24
IPC分类号： G06F15/00
CPC分类号： A63B71/0619 , A63B24/0006 , A63B24/0062 , A63B71/06 , A63B71/0616 , A63B2024/0009 , A63B2024/0012 , A63B2024/0065 , A63B2024/0068 , A63B2024/0071 , A63B2071/026 , A63B2071/0661 , A63B2071/0663 , A63B2102/18 , A63B2220/12 , A63B2220/13 , A63B2220/805 , A63B2225/093 , A63B2225/15 , A63B2225/20 , A63B2225/50 , A63B2243/0025 , A63B2243/0037 , A63B2243/0066 , A63B2243/007 , G06F1/1626 , G06F19/00 , G07C1/22
摘要： A universal athleticism rating system and related athletic performance measuring systems for accurately detecting and recording athletic performance are disclosed. The athleticism rating system evaluates individual athletes against a common, standardized, set of athletic performance tests. Each athlete performs the athletic tests and his or her scores in the individual tests are entered into a standardized calculation to produce a single athletic performance score. The related performance measuring system is preferably a timing system that ensures quick, easy, and accurate collection of athletic event timing related data without the need for the athlete to wear any special detection devices or the like. In a preferred embodiment, the performance measuring system integrates with the rating system to provide seamless athletic data collection and rating of athletes.
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29.发明申请公开(公告)号：US20110241852A1
公开(公告)日：2011-10-06
申请号：US13070134
申请日：2011-03-23
IPC分类号： G08B6/00
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/04766 , G06F3/011 , G06F2203/015 , G09B9/28
摘要： A hybrid haptic feedback system in which a host computer and haptic feedback device share processing loads to various degrees in the output of haptic sensations, and features for efficient output of haptic sensations in such a system. A haptic feedback interface device in communication with a host computer includes a device microcontroller outputting force values to the actuator to control output forces. In various embodiments, the microcontroller can determine force values for one type of force effect while receiving force values computed by the host computer for a different type of force effect. For example, the microcontroller can determine closed loop effect values and receive computed open loop effect values from the host; or the microcontroller can determine high frequency open loop effect values and receive low frequency open loop effect values from the host. Various features allow the host to efficiently stream computed force values to the device.
摘要翻译： 一种混合触觉反馈系统，其中主计算机和触觉反馈装置在触觉感觉的输出中共享处理各种程度的加载，以及用于在这种系统中有效输出触觉感觉的特征。 与主计算机通信的触觉反馈接口装置包括向致动器输出力值以控制输出力的装置微控制器。 在各种实施例中，微控制器可以在接收由主计算机为不同类型的力效应计算的力值时确定一种类型的力效应的力值。 例如，微控制器可以确定闭环效应值并从主机接收计算的开环效应值; 或者微控制器可以确定高频开环效应值并从主机接收低频开环效应值。 各种功能允许主机有效地将计算的力值流传输到设备。
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30.发明授权公开(公告)号：US07986303B2
公开(公告)日：2011-07-26
申请号：US11861098
申请日：2007-09-25
CPC分类号： G06F3/016 , A63F13/06 , A63F13/213 , A63F13/24 , A63F13/285 , A63F2300/1037 , A63F2300/1062 , A63F2300/8017 , G06F3/011 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/03547 , G06F3/03548 , G06F3/0362 , G06F2203/013 , G06F2203/014 , G06F2203/015 , G06F2203/0333 , H04L67/36 , H04L69/329
摘要： Methods and systems for textures and other spatial sensations for a relative haptic interface device are described. One embodiment includes a method comprising the steps of receiving a signal from a sensor, the sensor signal associated with a change in a position of a haptic feedback device, transmitting sensor data to a host processor, the sensor data associated with the sensor signal, receiving force information from the host processor, the force information comprising a texture sensation having at least one parameter describing at least one force to be output based at least in part on an interaction of a graphical object with a texture field, the force information further comprising at least one characteristic of the texture sensation, parsing the force information, storing the at least one characteristic, and determining when to output the at least one force based at least in part on the interaction.
摘要翻译： 描述了用于相对触觉接口设备的纹理和其他空间感觉的方法和系统。 一个实施例包括一种方法，包括以下步骤：从传感器接收信号，传感器信号与触觉反馈装置的位置变化相关联，将传感器数据传送到主机处理器，与传感器信号相关联的传感器数据，接收 所述力信息包括至少部分地基于图形对象与纹理字段的交互作用而具有至少一个描述要输出的力的参数的纹理感觉的力信息，所述力信息还包括： 纹理感觉的至少一个特征，解析力信息，存储至少一个特征，以及至少部分地基于交互来确定何时输出至少一个力。
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