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公开(公告)号：US6100874A
公开(公告)日：2000-08-08
申请号：US881691
申请日：1997-06-24
CPC分类号： G05G9/047 , B25J9/1692 , G01B21/04 , G01B5/008 , G01B7/004 , G05B19/4207 , G05D25/02 , G06F3/016 , G06F3/0346 , G06F3/0354 , G06F3/03543 , G06F3/038 , G06F3/0383 , G09B23/28 , G09B23/285 , G09B9/28 , A61B90/50 , A63F2300/1037 , G05G2009/0474 , G05G2009/04766 , G05G2009/0477 , G05G9/04737 , G06F2203/015 , H01H2003/008
摘要： A force feedback mouse interface device connected to a host computer and providing realistic force feedback to a user. The mouse interface device includes a mouse object and a linkage coupled to the mouse that includes a plurality of members rotatably coupled to each other in a planar closed-loop linkage and including two members coupled to ground and rotatable about the same axis. Two actuators, preferably electromagnetic voice coils, provide forces in the two degrees of freedom of the planar workspace of the mouse object. Each of the actuators includes a moveable coil portion integrated with one of the members of the linkage and a magnet portion coupled to the ground surface through which the coil portion moves. The grounded magnet portions of the actuators can be coupled together such that a common flux path between the magnet portions is shared by both magnets. At least one sensor is coupled to the ground surface that detects movement of the linkage and provides a sensor signal including information from which a position of the mouse object in the planar workspace can be determined.
摘要翻译： 连接到主计算机的力反馈鼠标接口设备，并向用户提供逼真的力反馈。 鼠标接口设备包括鼠标对象和耦合到鼠标的联动装置，该连接器包括在平面闭环联动装置中彼此可旋转地联接的多个构件，并且包括联接到地面并可绕同一轴线旋转的两个构件。 两个致动器，优选地是电磁音圈，提供了鼠标物体的平面工作空间的两个自由度的力。 每个致动器包括与联动件的一个构件一体化的可移动线圈部分和耦合到线圈部分通过其移动的地面的磁体部分。 致动器的接地磁体部分可以耦合在一起，使得磁体部分之间的公共磁通路径被两个磁体共享。 至少一个传感器耦合到地面，其检测联动装置的移动，并且提供包括信息的传感器信号，从而可以确定在平面工作空间中的鼠标对象的位置。
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公开(公告)号：US5929846A
公开(公告)日：1999-07-27
申请号：US869584
申请日：1997-06-05
IPC分类号： A61B19/00 , B25J9/16 , G01B5/008 , G01B7/004 , G01B21/04 , G05B19/42 , G05D25/02 , G05G9/047 , G06F3/00 , G06F3/01 , G06F3/038 , G09B9/28 , G09B23/28 , G09G5/08 , G06F3/033
CPC分类号： G06F3/016 , B25J9/1692 , G01B21/04 , G01B5/008 , G01B7/004 , G05B19/4207 , G05D25/02 , G05G9/047 , G06F3/0346 , G06F3/038 , G06F3/0383 , G09B23/28 , G09B23/285 , G09B9/28 , A61B90/50 , A63F2300/1037 , G05G2009/0474 , G05G2009/04759 , G05G2009/04766 , G05G9/04737 , G06F2203/015 , H01H2003/008
摘要： A force feedback interface device and method for use with a host computer includes a user object, such as a joystick handle, physically contacted by a user. A support mechanism allows at least two degrees of freedom to the user object. Two actuators, preferably grounded, provide a force resistance to motion of the user object along the two degrees of freedom in response to commands from the host computer. A grounded sensor system includes an optical detector and a beam source, such as a photo diode sensor, where either the optical detector or the beam source is fixed with respect to the actuator, and the other moves with the user object. The sensor system is configured to detect motion of the user object with respect to a grounding surface in the two rotary degrees of freedom. A local microprocessor, separate from said host computer, can be included to control the actuators and read the sensor and execute a local process in parallel with host execution of a graphical environment.
摘要翻译： 与主计算机一起使用的力反馈接口装置和方法包括用户物理接触的用户对象，诸如操纵杆手柄。 支持机构允许至少两个自由度的用户对象。 响应于来自主计算机的命令，优选地接地的两个致动器沿着两个自由度提供对用户物体的运动的阻力。 接地的传感器系统包括光学检测器和诸如光电二极管传感器的光束源，其中光学检测器或光束源相对于致动器固定，另一个与用户物体一起移动。 传感器系统被配置为以两个旋转自由度相对于接地表面检测用户物体的运动。 可以包括与所述主计算机分开的本地微处理器来控制致动器并读取传感器并与主机执行图形环境并行地执行本地进程。
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公开(公告)号：US07821496B2
公开(公告)日：2010-10-26
申请号：US10780852
申请日：2004-02-19
CPC分类号： G06F3/016 , A61B90/50 , A63F2300/1037 , B25J9/1692 , G01B5/008 , G01B7/004 , G01B21/04 , G05B19/4207 , G05G9/047 , G05G9/04737 , G05G2009/0474 , G05G2009/04759 , G05G2009/04766 , G06F3/0346 , G06F3/038 , G06F3/0383 , G06F2203/015 , G09B9/28 , G09B23/28 , G09B23/285 , H01H2003/008
摘要： A method and apparatus for interfacing the motion of a user-manipulable object with an electrical or computer system includes a user object physically contacted by a user. A gimbal mechanism is coupled to the user object, such as a joystick or a medical tool, and provides at least two degrees of freedom to the user object. The gimbal mechanism preferably includes multiple members, at least two of which are formed as a unitary member which provides flex between the selected members. An actuator applies a force along a degree of freedom to the user object in response to electrical signals produced by the computer system. A sensor detects a position of the user object along the degree of freedom and outputs sensor signals to the computer system. Another embodiment includes a host computer system and a local microprocessor, separate from the host computer, for communicating with the host computer and controlling the forces output by the actuators according to a processor subroutine selected in accordance with a host command, sensor signals, and timing information. Another embodiment of the interface apparatus uses voice coil actuators that produce forces in either linear or rotary degrees of freedom using currents applied in a magnetic fields. A friction drive mechanism of the present invention can be coupled between an actuator and a gimbal mechanism. Force from the actuator is transmitted to the gimbal mechanism through frictional contact of members of the friction drive mechanism.
摘要翻译： 用于将用户可操纵对象与电气或计算机系统的运动对接的方法和装置包括由用户物理联系的用户对象。 万向节机构耦合到用户对象，诸如操纵杆或医疗工具，并且向用户对象提供至少两个自由度。 万向架机构优选地包括多个构件，其中至少两个构件形成为在所选构件之间提供挠曲的整体构件。 执行器响应于由计算机系统产生的电信号，沿着自由度向使用者物体施加力。 传感器沿着自由度检测用户对象的位置，并向计算机系统输出传感器信号。 另一个实施例包括与主计算机分离的主计算机系统和本地微处理器，用于与主计算机进行通信，并根据根据主机命令，传感器信号和时序选择的处理器子程序来控制致动器输出的力 信息。 接口装置的另一实施例使用音圈致动器，其使用在磁场中施加的电流产生线性或旋转自由度的力。 本发明的摩擦驱动机构可以联接在致动器和万向节机构之间。 致动器的力通过摩擦驱动机构的构件的摩擦接触传递到万向节机构。
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公开(公告)号：US06956558B1
公开(公告)日：2005-10-18
申请号：US09678110
申请日：2000-10-02
CPC分类号： G06F3/016 , G06F3/0354 , G06F2203/014
摘要： A force feedback wheel is provided on a mouse or other interface device manipulated by a user. A sensor detects a position of the mouse in a workspace and sends a position signal to a connected host computer indicating that position. A rotatable wheel is mounted upon the manipulandum and rotates about a wheel axis, where a wheel sensor provides a wheel signal to the host computer indicating a rotary position of the wheel. A wheel actuator coupled to the rotatable wheel applies a computer-modulated force to the wheel about the wheel axis. The mouse can be a standard mouse or a force-feedback mouse, where forces are applied in the mouse workspace. The host computer is preferably running a graphical environment, where the force applied to the wheel can correspond with an event or interaction displayed in the graphical environment. The wheel can also be included on other devices such as remote controls and radios.
摘要翻译： 在由用户操纵的鼠标或其他接口设备上提供力反馈轮。 传感器检测工作空间中鼠标的位置，并向所连接的主计算机发送指示该位置的位置信号。 可旋转轮安装在操纵上并围绕车轮轴线旋转，其中车轮传感器向主机提供指示车轮旋转位置的车轮信号。 联接到可旋转轮的轮致动器将轮子周围的计算机调制力施加到车轮。 鼠标可以是标准鼠标或力反馈鼠标，其中在鼠标工作区中应用力。 主机优选地运行图形环境，其中施加到车轮的力可对应于在图形环境中显示的事件或交互。 车轮也可以包括在其他设备上，如遥控器和收音机。
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45.发明授权Digitizing system and rotary table for determining 3-D geometry of an object 失效用于确定物体的三维几何的数字化系统和旋转台公开(公告)号：US06697748B1
公开(公告)日：2004-02-24
申请号：US09687923
申请日：2000-10-13
IPC分类号： G01B7008
CPC分类号： G06F3/038 , B25J9/1692 , G01B5/008 , G01B21/04 , G05B19/4207 , G05B2219/37021 , G05B2219/37043 , G05B2219/39021 , G05B2219/39024 , G05B2219/39048 , G05B2219/45055 , G05B2219/45061 , G06F3/0346
摘要： A digitizing system and rotary table for determining the three-dimensional geometry of an object. An apparatus includes at least one sensor detecting information describing the three-dimensional geometry of the object and providing the information to a host computer. A rotary table includes a base and a turntable rotatable about an axis positioned perpendicularly to the turntable surface. The turntable and object on its surface rotate about the axis during or between the sensor detecting the information describing the three-dimensional geometry of the object. A turntable sensor coupled to the base measures the rotation of the turntable, where the turntable sensor outputs turntable data indicative of the rotation to the host computer.
摘要翻译： 用于确定物体的三维几何形状的数字化系统和旋转台。 一种装置包括至少一个传感器，其检测描述对象的三维几何的信息并将信息提供给主计算机。 旋转台包括基座和可围绕垂直于转台表面定位的轴线旋转的转盘。 传感器和表面上的物体在检测描述物体的三维几何的信息的传感器期间或之间围绕轴旋转。 连接到基座的转盘传感器测量转盘的旋转，其中转盘传感器将指示旋转的转盘数据输出到主计算机。
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46.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：US06342880B2
公开(公告)日：2002-01-29
申请号：US09414294
申请日：1999-10-06
IPC分类号： G09G508
CPC分类号： G06F3/016 , A63F13/06 , A63F13/211 , A63F13/285 , A63F2300/1025 , A63F2300/1037 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F3/0383 , G06F19/00 , G06F2203/015 , H01H2003/008
摘要： A force feedback interface including a haptic accelerator that relieves the computational burden associated with force feedback generation from a force feedback processor. The force feedback processor is preferably a device microprocessor included in the interface device and separate from a controlling host computer for determining forces to be output. The haptic accelerator quickly determines velocity and/or acceleration information describing motion of a user manipulatable object from raw position data received from sensors of the interface device and representing the position of the user object. The velocity and/or acceleration data is used by the force feedback processor in the determination of forces to be output on the user object. The haptic accelerator can in some embodiments also quickly and reliably determine condition forces which depend on the motion of the user object, thus relieving additional computation burden from the force feedback processor and permitting the force feedback processor to focus on determining other types of forces and overseeing the operation of the force feedback interface device.
摘要翻译： 一种力反馈界面，包括一个抵消力反馈处理器产生力反馈相关的计算负担的触觉加速器。 力反馈处理器优选地是包括在接口设备中的设备微处理器，并且与控制主计算机分离以确定要输出的力。 触觉加速器快速地确定速度和/或加速度信息，其描述从接口装置的传感器接收的并且表示用户对象的位置的原始位置数据中的用户可操纵对象的运动。 力反馈处理器使用速度和/或加速度数据来确定在用户物体上输出的力。 在一些实施例中，触觉加速器还可以快速且可靠地确定取决于用户对象的运动的状态力，从而减轻来自力反馈处理器的额外计算负担，并允许力反馈处理器专注于确定其他类型的力并监督 力反馈接口设备的操作。
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48.发明授权公开(公告)号：US06271828B1
公开(公告)日：2001-08-07
申请号：US09439836
申请日：1999-11-12
IPC分类号： G09G500
CPC分类号： A63F13/285 , A61B90/50 , A63F13/06 , A63F13/24 , A63F13/42 , A63F2300/1037 , G05G9/047 , G05G9/04737 , G05G2009/0474 , G05G2009/04766 , G06F3/016 , G06F3/0338 , G06F3/03545 , G06F3/0383 , G06F2203/015 , G09B9/28 , G09B23/28 , Y10T74/20201
摘要： A method and apparatus for interfacing the motion of an object with a digital processing system includes a sensor for detecting movement of the object along a degree of freedom. A passive pneumatic or hydraulic damper is coupled to the object to provide a damping resistance to the object along the degree of freedom and resist a movement of the object. The damping resistance is provided by regulating the control of a fluid with a digital computing apparatus, thus providing a low-cost, low-power force-feedback interface that is safe for the user. The damper and sensor provide an electromechanical interface between the object and the electrical system. A gimbal or other interface mechanism can be coupled between the damper and the object. The interface is well suited for simulations or video games in which an object such as a joystick is moved and manipulated by the user.
摘要翻译： 用于将物体的运动与数字处理系统接合的方法和装置包括用于沿着自由度检测物体的运动的传感器。 无源气动或液压阻尼器联接到物体，以沿着自由度向物体提供阻尼阻力并抵抗物体的运动。 通过用数字计算装置调节流体来提供阻尼阻力，从而提供对用户来说是安全的低成本，低功率的力 - 反馈接口。 阻尼器和传感器在物体和电气系统之间提供机电接口。 万向节或其他接口机构可以联接在阻尼器和物体之间。 该界面非常适合模拟或视频游戏，其中诸如操纵杆的对象被用户移动和操纵。
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公开(公告)号：US6128006A
公开(公告)日：2000-10-03
申请号：US49155
申请日：1998-03-26
IPC分类号： G01C21/36 , G06F3/00 , G06F3/01 , G06F3/023 , G06F3/0354 , G06F3/0362 , G06F3/039 , G06F3/0482 , G06F3/0485 , G09G5/08
CPC分类号： G06F3/016 , G01C21/36 , G06F3/0219 , G06F3/03543 , G06F3/0362 , G06F3/0395 , G06F3/0482 , G06F3/0485 , A63F2300/1037 , G06F2203/013 , G06F2203/014
摘要： A force feedback wheel is provided on a mouse or other interface device manipulated by a user. A sensor detects a position of the mouse in a workspace and sends a position signal to a connected host computer indicating that position. A rotatable wheel is mounted upon the manipulandum and rotates about a wheel axis, where a wheel sensor provides a wheel signal to the host computer indicating a rotary position of the wheel. A wheel actuator coupled to the rotatable wheel applies a computer-modulated force to the wheel about the wheel axis. The mouse can be a standard mouse or a force-feedback mouse, where forces are applied in the mouse workspace. The host computer is preferably running a graphical environment, where the force applied to the wheel can correspond with an event or interaction displayed in the graphical environment. The wheel can also be included on other devices such as remote controls and radios.
摘要翻译： 在由用户操纵的鼠标或其他接口设备上提供力反馈轮。 传感器检测工作空间中鼠标的位置，并向所连接的主计算机发送指示该位置的位置信号。 可旋转轮安装在操纵上并围绕车轮轴线旋转，其中车轮传感器向主机提供指示车轮旋转位置的车轮信号。 联接到可旋转轮的轮致动器将轮子周围的计算机调制力施加到车轮。 鼠标可以是标准鼠标或力反馈鼠标，其中在鼠标工作区中应用力。 主机优选地运行图形环境，其中施加到车轮的力可对应于在图形环境中显示的事件或交互。 车轮也可以包括在其他设备上，如遥控器和收音机。
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50.发明授权
公开(公告)号：US5903456A
公开(公告)日：1999-05-11
申请号：US791020
申请日：1997-01-27
CPC分类号： G06F3/016 , A63F13/06 , A63F13/23 , A63F13/24 , A63F13/285 , A63F2300/1025 , A63F2300/1037 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F3/011 , G06F3/0383 , G06F2203/015
摘要： A method and apparatus for providing low-cost, realistic force feedback including an improved actuator. Force sensations are provided to a user and an interface device coupled to a host computer allows a user to interact with a host application program. A user object, such as a joystick, is moveable by a user in at least one rotary degree of freedom. A sensor reports a locative signal to the host computer to indicate a position of the user object. An actuator outputs forces on the user object in response to signals from the host computer and program. The actuator includes a housing, a set of grounded magnets provided on opposing surfaces of the housing and creating a magnetic field, and a rotor coupled to the user object positioned between the magnets. The rotor rotates about an axis of rotation and includes a shaft and teeth spaced around the shaft. An electric current flows through one or more coils on the teeth to cause the rotor to rotate. The teeth and the magnets are provided in a skewed, helical arrangement relative to each other so that, as the rotor rotates, a first tooth gradually exits the magnetic field as the next consecutive tooth gradually enters the magnetic field, thereby significantly reducing a cogging effect of the rotor when the user object is moved by the user and increasing the fidelity of forces experienced by the user.
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