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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
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.
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公开(公告)号：US07489309B2
公开(公告)日：2009-02-10
申请号：US11603294
申请日：2006-11-21
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。
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33.发明申请Force feedback system including multi-Tasking graphical host environment and interface device 有权强制反馈系统，包括多任务图形主机环境和接口设备公开(公告)号：US20080266066A1
公开(公告)日：2008-10-30
申请号：US11982593
申请日：2007-11-02
CPC分类号： G06F3/016 , G05B19/00 , G06F3/0338 , G06F3/03543 , G06F3/03548 , G06F3/04842 , G06F2203/013 , G06F2203/014 , G06F2203/0333 , H04L67/02 , H04L67/36 , H04L69/329
摘要： A force feedback system provides components for use in a force feedback system including a host computer and a force feedback interface device. An architecture for a host computer allows multi-tasking application programs to interface with the force feedback device without conflicts. One embodiment of a force feedback device provides both relative position reporting and absolute position reporting to allow great flexibility. A different device embodiment provides relative position reporting device allowing maximum compatibility with existing software. Information such as ballistic parameters and screen size sent from the host to the force feedback device allow accurate mouse positions and cursor positions to be determined in the force feedback environment. Force feedback effects and structures are further described, such as events and enclosures.
摘要翻译： 力反馈系统提供用于包括主计算机和力反馈接口装置的力反馈系统中的组件。 用于主计算机的架构允许多任务应用程序与力反馈装置进行接口而没有冲突。 力反馈装置的一个实施例提供相对位置报告和绝对位置报告以允许很大的灵活性。 不同的设备实施例提供相对位置报告设备，允许与现有软件的最大兼容性。 从主机发送到力反馈装置的诸如弹道参数和屏幕尺寸的信息允许在力反馈环境中确定精确的鼠标位置和光标位置。 进一步描述力反馈效应和结构，例如事件和机箱。
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34.发明授权公开(公告)号：US06580417B2
公开(公告)日：2003-06-17
申请号：US09815872
申请日：2001-03-22
申请人： Louis B. Rosenberg , Adam C. Braun , Mike D. Levin
发明人： Louis B. Rosenberg , Adam C. Braun , Mike D. Levin
IPC分类号： G06F3033
CPC分类号： G06F3/016 , A63F13/06 , A63F13/285 , A63F2300/1025 , A63F2300/1037 , A63F2300/1043 , B25J9/1692 , G01B5/008 , G01B7/004 , G01B21/04 , G05B19/4207 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F3/011 , G06F3/038 , G06F3/0383 , G06F2203/014 , G06F2203/015 , H01H2003/008
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。
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35.发明授权公开(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
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： 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。
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36.发明授权公开(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
CPC分类号： G06F3/016 , A63F13/06 , A63F13/23 , A63F13/285 , A63F2300/1025 , A63F2300/1031 , A63F2300/1037 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F1/266 , G06F3/011 , G06F3/0383 , G06F2203/014 , G06F2203/015 , H01H2003/008 , H04L67/38
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。
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公开(公告)号：US20090079712A1
公开(公告)日：2009-03-26
申请号：US12326405
申请日：2008-12-02
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/0477 , G06F3/0354 , G06F3/03543 , G06F3/0362 , G06F3/0395 , H01H2003/008
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。
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公开(公告)号：US07439951B2
公开(公告)日：2008-10-21
申请号：US11109238
申请日：2005-04-18
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , A63F13/06 , A63F13/23 , A63F13/285 , A63F2300/1025 , A63F2300/1031 , A63F2300/1037 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F1/266 , G06F3/011 , G06F3/0383 , G06F2203/014 , G06F2203/015 , H01H2003/008 , H04L67/38
摘要： A method and apparatus for providing safe and low-cost force feedback peripherals for consumer applications. A device microprocessor local to an interface device is coupled to the host by a first interface bus. The microprocessor receives host commands from the host computer on the first interface bus, such as an RS-232 interface, and commands an actuator to apply a force to a user object, such as a joystick, in response to host commands. A sensor detects positions of the user object and output signals to the host on a second interface bus, such as a PC game port bus, separate from the first bus. In a “recoil” embodiment, a user initiates force feedback by pressing a button on the joystick, which sends an activation signal to the actuator. In other recoil embodiments, the host computer can transmit one or more enable signals and/or activation signals to the actuator to enable or command forces. A safety switch of the present invention disables the actuator when the interface device is not in use and enables the actuator when an amount of weight over a predetermined amount is placed on the joystick created by a user grasping the joystick a circuit of the present invention includes a capacitor for storing power provided by an input signal and supplied to the actuator when forces are to be output.
摘要翻译： 一种用于为消费者应用提供安全且低成本的力反馈外设的方法和装置。 接口设备本地的设备微处理器通过第一接口总线耦合到主机。 微处理器从第一接口总线（例如RS-232接口）上的主计算机接收主机命令，并且响应于主机命令，命令致动器向用户对象（例如操纵杆）施加力。 传感器在与第一总线分离的第二接口总线（例如PC游戏端口总线）上检测用户对象的位置和输出信号到主机。 在“反冲”实施例中，用户通过按下操纵杆上的按钮来发起力反馈，该按钮向致动器发送激活信号。 在其他反冲实施例中，主计算机可以向致动器发送一个或多个使能信号和/或激活信号以启用或指示力。 本发明的安全开关在接口装置不使用时使致动器不起作用，当使用者抓握本发明的电梯的用户所产生的操纵杆上放置超过预定量的重量时，能够使致动器包括 电容器，用于存储由输入信号提供的电力，并在要输出力时提供给致动器。
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公开(公告)号：US07038657B2
公开(公告)日：2006-05-02
申请号：US10079379
申请日：2002-02-19
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , A63F13/06 , A63F13/23 , A63F13/285 , A63F2300/1025 , A63F2300/1031 , A63F2300/1037 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F1/266 , G06F3/011 , G06F3/0383 , G06F2203/014 , G06F2203/015 , H01H2003/008 , H04L67/38
摘要： Power management for an interface device that is manipulated by a user and in communication with a host computer and provides forces to the user. The device includes a sensor and an actuator. One embodiment provides first power from the host computer over a serial interface and second power from a power adapter. Another embodiment provides first power from the host computer and second power from a power storage device on the interface device that supplies power to the actuator. Another embodiment provides a power adapter supplying a portion of the first power to the sensor and a portion to the actuator, and a power storage device on the interface device provides second power to the actuator.
摘要翻译： 用于由用户操纵并与主机通信并向用户提供力量的接口设备的电源管理。 该装置包括传感器和致动器。 一个实施例通过串行接口提供来自主机的第一功率和来自电源适配器的第二功率。 另一个实施例提供来自主计算机的第一功率和来自向致动器供电的接口设备上的蓄电装置的第二功率。 另一个实施例提供了将一部分第一功率提供给传感器的电源适配器和致动器的一部分，并且接口装置上的蓄电装置向致动器提供第二功率。
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40.发明授权公开(公告)号：US06982700B2
公开(公告)日：2006-01-03
申请号：US10413274
申请日：2003-04-14
申请人： Louis B. Rosenberg , Adam C. Braun , Mike D. Levin
发明人： Louis B. Rosenberg , Adam C. Braun , Mike D. Levin
CPC分类号： G06F3/016 , A63F13/06 , A63F13/285 , A63F2300/1025 , A63F2300/1037 , A63F2300/1043 , B25J9/1692 , G01B5/008 , G01B7/004 , G01B21/04 , G05B19/4207 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F3/011 , G06F3/038 , G06F3/0383 , G06F2203/014 , G06F2203/015 , H01H2003/008
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.
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