Hybrid control of haptic feedback for host computer and interface device

    公开(公告)号:US07502011B2

    公开(公告)日:2009-03-10

    申请号:US10184041

    申请日:2002-06-25

    IPC分类号: G09G5/00

    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.

    Control knob with multiple degrees of freedom and force feedback
    32.
    发明授权
    Control knob with multiple degrees of freedom and force feedback 有权
    控制旋钮具有多个自由度和力反馈

    公开(公告)号:US07489309B2

    公开(公告)日:2009-02-10

    申请号:US11603294

    申请日:2006-11-21

    IPC分类号: G09G5/00 G06F3/033

    CPC分类号: G06F3/016

    摘要: 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.

    摘要翻译: 本发明提供了一种设备上的控制旋钮,其允许用户控制设备的功能。 在一个实施例中,旋钮可以旋转自由度旋转,并且在大致垂直于轴线的至少一个横向方向上可移动。 致动器联接到旋钮以输出围绕轴线的旋转自由度的力,从而提供力反馈。 在不同的实施例中,旋钮以关于轴线的旋转自由度提供力反馈,并且还可以在大致平行于轴线的线性自由度中移动,从而允许使用者推动和/或拉动旋钮 。 由旋钮控制的设备可以是各种类型的设备,诸如音频设备,视频设备等。设备还可以包括提供响应于旋钮的操纵而更新的图像的显示器。 可以通过在旋钮的旋转自由度中重叠和调整紧密间隔的棘爪的范围来为旋钮提供限位力。

    Data filter for haptic feedback devices having low-bandwidth communication links
    33.
    发明授权
    Data filter for haptic feedback devices having low-bandwidth communication links 有权
    具有低带宽通信链路的触觉反馈设备的数据滤波器

    公开(公告)号:US06933920B2

    公开(公告)日:2005-08-23

    申请号:US10254340

    申请日:2002-09-24

    CPC分类号: G06F3/016

    摘要: Embodiments of the present invention provide computer program products, methods, and systems for use with low speed processors and/or low-bandwidth communication links. Embodiments of the present invention allows low-bandwidth communication links to proceed at a level similar to a high-bandwidth communication link by filtering data that the filter deems contains substantially identical haptic feedback parameters as a previously transmitted data.

    摘要翻译: 本发明的实施例提供了用于低速处理器和/或低带宽通信链路的计算机程序产品,方法和系统。 本发明的实施例允许低带宽通信链路以类似于高带宽通信链路的级别进行,过滤滤波器认为包含基本相同的触觉反馈参数的数据作为先前发送的数据。

    Position sensing methods for interface devices
    35.
    发明授权
    Position sensing methods for interface devices 有权
    接口设备的位置检测方法

    公开(公告)号:US06704002B1

    公开(公告)日:2004-03-09

    申请号:US09571397

    申请日:2000-05-15

    IPC分类号: G09G508

    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。

    Tactile feedback device providing tactile sensations from host commands
    36.
    发明授权
    Tactile feedback device providing tactile sensations from host commands 失效
    触觉反馈装置提供来自主机命令的触觉

    公开(公告)号:US06580417B2

    公开(公告)日:2003-06-17

    申请号:US09815872

    申请日:2001-03-22

    IPC分类号: G06F3033

    摘要: A method and apparatus for controlling and providing force feedback using an interface device manipulated by a user. A microprocessor is provided local to the interface device and reads sensor data from sensors that describes the position and/or other information about a user object moved by the user, such as a joystick. The microprocessor controls actuators to provide forces on the user object and provides the sensor data to a host computer that is coupled to the interface device. The host computer sends high level host commands to the local microprocessor, and the microprocessor independently implements a local reflex process based on the high level command to provide force values to the actuators using sensor data and other parameters. A provided host command protocol includes a variety of different types of host commands and associated command parameters. By providing a relatively small set of high level host commands and parameters which are translated into a panoply of forces, the protocol further shifts the computational burden from the host computer to the local microprocessor and allows a software developer to easily create force feedback applications.

    摘要翻译: 一种使用由用户操纵的接口装置来控制和提供力反馈的方法和装置。 在接口设备本地提供微处理器,并从传感器读取传感器数据,该传感器描述用户(例如操纵杆)移动的用户对象的位置和/或其他信息。 微处理器控制致动器以在用户对象上提供力并将传感器数据提供给耦合到接口设备的主计算机。 主计算机向本地微处理器发送高电平主机命令,并且微处理器基于高电平命令独立地实现局部反射过程,以使用传感器数据和其他参数向致动器提供力值。 提供的主机命令协议包括各种不同类型的主机命令和相关的命令参数。 通过提供一组相对较小的高级主机命令和参数,这些命令和参数被翻译成一个总体的力量,协议进一步将计算负担从主机转移到本地微处理器,并允许软件开发人员轻松创建力反馈应用程序。

    Textures and other spatial sensations for a relative haptic interface device
    37.
    发明授权
    Textures and other spatial sensations for a relative haptic interface device 有权
    纹理和其他空间感觉相对触觉界面设备

    公开(公告)号:US06448977B1

    公开(公告)日:2002-09-10

    申请号:US09504201

    申请日:2000-02-15

    IPC分类号: G09G500

    摘要: A low-cost haptic feedback device that provides spatially-based sensations such as textures in correlation with a displayed graphical environment. The device includes a housing, a sensor device, and an actuator for applying a force to the user. A local processor reports relative sensor data to the host processor and receives force information from the host processor. The host force information causes a texture sensation to be output by the actuator, the texture sensation providing forces to the user at least approximately spatially correlated with predefined locations in the graphical environment as determined by a local processor. In some embodiments, the local processor can model a position of the cursor while the cursor interacts with the texture field, where the modeled position is used for determining the force output to the user, and the force information from the host can include a gating command to activate or deactivate the texture sensation when the cursor enters or exits the texture field.

    摘要翻译: 一种低成本的触觉反馈装置,其提供基于空间的感觉,例如与显示的图形环境相关的纹理。 该装置包括壳体,传感器装置和用于向使用者施加力的致动器。 本地处理器向主处理器报告相对传感器数据,并从主处理器接收强制信息。 宿主力信息导致由致动器输出纹理感觉,纹理感觉向用户提供至少大致空间上与由本地处理器确定的图形环境中的预定义位置相关联的力。 在一些实施例中,当光标与纹理字段相互作用时,本地处理器可以对光标的位置建模,其中建模位置用于确定向用户输出的力,并且来自主机的力信息可以包括门控命令 当光标进入或退出纹理字段时激活或停用纹理感觉。

    Force feedback device including safety switch and force magnitude ramping
    38.
    发明授权
    Force feedback device including safety switch and force magnitude ramping 有权
    强制反馈装置包括安全开关和力量斜坡

    公开(公告)号:US06348911B1

    公开(公告)日:2002-02-19

    申请号:US09258749

    申请日:1999-02-26

    IPC分类号: G09G508

    摘要: A force feedback interface device including safety features. The interface device includes a sensor that senses the position of a user manipulatable object in a degree of freedom and provides a sensor signal indicating the position of the user manipulatable object to a host computer. An actuator of the device applies a force to the user manipulatable object in the degree of freedom. A safety switch of the interface device disables the actuator when the user is not using the interface device and enables the actuator when the user is using the device. A device is included in the interface device to execute a force ramping process when the safety switch enables the actuator, the force ramping process causing the force to be produced at a reduced magnitude and slowly increased to a desired magnitude over a period of time to avoid an abrupt application of initial force.

    摘要翻译: 包含安全功能的力反馈界面装置。 接口装置包括传感器,该感测器以自由度感测用户可操纵对象的位置,并提供指示用户可操纵对象到主计算机的位置的传感器信号。 该装置的致动器以自由度向用户可操纵物体施加力。 当用户不使用接口设备时,接口设备的安全开关禁用执行器,并且在用户使用设备时启用执行器。 接口装置中包括一个装置,以便在安全开关使执行机构启动时执行强制斜坡加工过程,强制斜坡加工过程使力产生在一个较小的幅度,并在一段时间内慢慢地增加到所需的大小,以避免 突然施加初始力。

    Hybrid Control Of Haptic Feedback For Host Computer And Interface Device
    40.
    发明申请
    Hybrid Control Of Haptic Feedback For Host Computer And Interface Device 审中-公开
    用于主计算机和接口设备的触觉反馈的混合控制

    公开(公告)号:US20120326977A1

    公开(公告)日:2012-12-27

    申请号:US13604736

    申请日:2012-09-06

    IPC分类号: G09G5/00

    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。