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公开(公告)号：US07944433B2
公开(公告)日：2011-05-17
申请号：US10794053
申请日：2004-03-08
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/04748 , G05G2009/04755 , G06F3/03548 , G06F2203/015 , G09B23/285
摘要： A force feedback interface device is coupled to a host computer that displays a graphical environment, the device including a user manipulatable object physically contacted and moveable by a user. A sensor detects a position of the user object and provides a sensor signal to the host computer, where the sensor signal includes information representative of the position of the user object. An actuator is coupled to the device or user object and outputs a force on the user manipulatable object or a housing of the device. The actuator includes a magnet and a grounded coil, where the magnet moves approximately within a plane with respect to the coil, and wherein a current is provided in the coil to generate the force. Other embodiments provide a magnet that moves in a linear degree of freedom within a coil housing, or provide an at least partially spherical magnet providing rotary degrees of freedom to a user manipulatable object coupled to the magnet. One embodiment includes a planar frame support mechanism.
摘要翻译： 力反馈接口设备耦合到显示图形环境的主计算机，该设备包括用户物理地接触和可移动的用户可操纵对象。 传感器检测用户对象的位置，并向主计算机提供传感器信号，其中传感器信号包括表示用户对象的位置的信息。 致动器联接到设备或用户对象，并且在用户可操纵物体或设备的壳体上输出力。 致动器包括磁体和接地线圈，其中磁体相对于线圈大致在平面内移动，并且其中在线圈中提供电流以产生力。 其它实施例提供一种在线圈壳体内以线性自由度移动的磁体，或者提供至少部分地具有球面的磁体，为耦合到磁体的用户可操纵物体提供旋转自由度。 一个实施例包括平面框架支撑机构。
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公开(公告)号：US20100288072A1
公开(公告)日：2010-11-18
申请号：US10208605
申请日：2002-07-29
申请人： Gregory A. Springer , Alexander Jasso , Steven P. Vassallo , Kenneth M. Martin , Bruce M. Schena
发明人： Gregory A. Springer , Alexander Jasso , Steven P. Vassallo , Kenneth M. Martin , Bruce M. Schena
CPC分类号： B62D1/04 , G06F3/016 , G06F3/0362 , Y10T74/20834
摘要： A control wheel for controlling at least one function of a system by a user includes a moveable engagement wheel for engagement by the user and an actuator coupled to the engagement wheel for providing force or haptic feedback to the engagement wheel in response to movement of the engagement wheel. A sensor for sensing movement of the engagement wheel is provided and a control system is coupled to the sensor for receiving information about positioning and movement of the engagement wheel, and is also coupled to the actuator for controlling force to the engagement wheel. The control system also provides control of the at least one function of the system.
摘要翻译： 用于由用户控制系统的至少一个功能的控制轮包括用于由用户接合的可移动接合轮和联接到接合轮的致动器，用于响应于接合的移动而向接合轮提供力或触觉反馈 轮。 提供了用于感测啮合轮运动的传感器，并且控制系统耦合到传感器，用于接收关于啮合轮的定位和运动的信息，并且还联接到致动器以控制对接合轮的力。 控制系统还提供对系统的至少一个功能的控制。
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公开(公告)号：US07656388B2
公开(公告)日：2010-02-02
申请号：US10949467
申请日：2004-09-27
申请人： Bruce M. Schena , Erik Shahoian
发明人： Bruce M. Schena , Erik Shahoian
CPC分类号： G06F3/016
摘要： Method and apparatus for controlling vibrotactile sensations for haptic feedback devices. An actuator in a haptic feedback device includes a rotatable eccentric mass, and information is received at the haptic feedback device causing a drive signal. The drive signal controls the actuator to oscillate the mass in two directions about an axis of rotation of the actuator such that the oscillation of the mass induces a vibration in the haptic feedback device. The magnitude and frequency of the vibration can be independently controlled by adjusting a magnitude and a frequency, respectively, of the drive signal. The vibrations can also be provided in a bi-directional mode or uni-directional mode to provide the most efficient magnitude of the vibrotactile sensations. The haptic feedback device can be, for example, a gamepad controller receiving commands from a host computer providing a graphical environment.
摘要翻译： 用于控制触觉反馈装置的振动触觉的方法和装置。 触觉反馈装置中的致动器包括可旋转的偏心质量块，并且在触觉反馈装置处接收信息以产生驱动信号。 驱动信号控制致动器以围绕致动器的旋转轴线的两个方向振荡质量，使得质量的振荡在触觉反馈装置中引起振动。 可通过分别调节驱动信号的幅度和频率来独立地控制振动的幅度和频率。 也可以以双向模式或单向模式提供振动，以提供振动触觉感觉的最有效的量值。 触觉反馈装置可以是例如从提供图形环境的主计算机接收命令的游戏手柄控制器。
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公开(公告)号：US07450110B2
公开(公告)日：2008-11-11
申请号：US10919648
申请日：2004-08-17
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G06F1/1616 , G06F1/1626 , G06F1/169 , G06F3/011 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/03547 , G06F3/0362 , H01H2003/008 , H01H2215/052
摘要： A haptic feedback touch control used to provide input to a computer. A touch input device includes a planar touch surface that provides position information to a computer based on a location of user contact. The computer can position a cursor in a displayed graphical environment based at least in part on the position information, or perform a different function. At least one actuator is also coupled to the touch input device and outputs a force to provide a haptic sensation to the user. The actuator can move the touchpad laterally, or a separate surface member can be actuated. A flat E-core actuator, piezoelectric actuator, or other types of actuators can be used to provide forces. The touch input device can include multiple different regions to control different computer functions.
摘要翻译： 用于向计算机提供输入的触觉反馈触摸控制。 触摸输入设备包括平面触摸表面，其基于用户接触的位置向计算机提供位置信息。 计算机可以至少部分地基于位置信息将光标定位在所显示的图形环境中，或者执行不同的功能。 至少一个致动器还耦合到触摸输入设备并且输出力以向用户提供触觉感觉。 致动器可以横向移动触摸板，或者可以致动单独的表面构件。 可以使用扁平的E型芯致动器，压电致动器或其他类型的致动器来提供力。 触摸输入设备可以包括多个不同的区域来控制不同的计算机功能。
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公开(公告)号：US07182691B1
公开(公告)日：2007-02-27
申请号：US09968725
申请日：2001-09-28
申请人： Bruce M. Schena
发明人： Bruce M. Schena
IPC分类号： A63F13/00
CPC分类号： A63F13/285 , A63F13/06 , A63F13/211 , A63F13/24 , A63F2300/1037 , A63F2300/1043 , G06F3/016
摘要： Directional haptic feedback for a haptic feedback interface device. A haptic feedback interface device, in communication with a host computer, includes a housing physically contacted by a user operating the interface device, and a plurality of actuators producing inertial forces when the actuators are driven by control signals. Each of the actuators includes a rotatable eccentric mass positioned offset on a rotating shaft of the actuator, where the actuators are rotated simultaneously such that centrifugal forces from the rotation of masses combine to output the inertial forces substantially only along a single axis having a desired direction approximately in a plane of rotation of the masses.
摘要翻译： 用于触觉反馈接口装置的定向触觉反馈。 与主计算机通信的触觉反馈接口装置包括由操作接口装置的用户实际接触的壳体，以及当致动器由控制信号驱动时产生惯性力的多个致动器。 每个致动器包括位于致动器的旋转轴上偏移的可旋转偏心质量块，其中致动器同时旋转，使得来自质量旋转的离心力组合以基本上仅沿着具有期望方向的单个轴输出惯性力 大致在群众的旋转平面内。
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公开(公告)号：US07113166B1
公开(公告)日：2006-09-26
申请号：US09547782
申请日：2000-04-12
IPC分类号： G09G5/00
CPC分类号： A63B21/0057 , A63B22/0605 , A63B23/14 , A63B69/00 , G06F3/016 , G09B9/00 , G09B19/00
摘要： A haptic feedback device including a fluid viscosity-controlled brake that outputs high forces to the device user at low cost while maintaining inherent safety. An interface device includes a manipulandum physically contacted by the user. A sensor senses a position of the manipulandum and outputs a sensor signal. The interface device also includes a brake including a field-controlled fluid having a viscosity that can be controlled by controlling an electric current in a coil, where a resistive force or drag on the manipulandum is controlled by controlling the fluid's viscosity. The fluid can be an electrorheological fluid controlled by an electric field or a magnetorheological fluid controlled by a magnetic field. In one preferred embodiment, the resistive force is controlled by adjusting a degree of contact of the brake with the manipulandum based on the fluid's viscosity. Disclosed embodiments include fishing devices, bicycle simulators, and control knobs.
摘要翻译： 一种触觉反馈装置，包括流体粘度控制的制动器，其以低成本向装置用户输出高力量，同时保持固有的安全性。 接口设备包括用户实际接触的操作。 传感器感测操纵的位置并输出传感器信号。 接口装置还包括制动器，其包括具有可通过控制线圈中的电流来控制的粘度的场控流体，其中通过控制流体的粘度来控制操纵力上的阻力或阻力。 流体可以是由电场控制的电流变流体或由磁场控制的磁流变流体。 在一个优选实施例中，通过基于流体的粘度调节制动器与操纵的接触程度来控制阻力。 公开的实施例包括钓鱼装置，自行车模拟器和控制旋钮。
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公开(公告)号：US07106313B2
公开(公告)日：2006-09-12
申请号：US09734953
申请日：2000-12-11
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/0477 , G06F3/0354 , G06F3/03543 , G06F2203/015 , G09B23/285 , 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, two of the 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. 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.
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88.发明授权Actuator for providing tactile sensations and device for directional tactile sensations 有权用于提供触觉感觉的触发器和用于定向触觉的装置公开(公告)号：US07084854B1
公开(公告)日：2006-08-01
申请号：US09967494
申请日：2001-09-27
IPC分类号： G09G5/08
CPC分类号： G06F3/016 , G06F3/03543
摘要： An interface device providing haptic feedback to a user is in communication with a host computer. The device includes a housing, at least one sensor for detecting user input, and an actuator assembly. The actuator assembly includes a grounded flexure suspension coupled to an inertial mass which moves when the actuator assembly is energized to cause inertial sensations. The inertial mass includes a pole piece surrounding a magnet, and a grounded coil between magnet and pole piece causes the motion of the inertial mass when current is flowed therethrough. Another embodiment provides directional haptic feedback to a user and includes at least two actuator assemblies oriented such that the inertial masses oscillate substantially orthogonally, and can be controlled to output the inertial sensations approximately along a single axis having a desired orientation.
摘要翻译： 向用户提供触觉反馈的接口设备与主计算机通信。 该装置包括壳体，用于检测用户输入的至少一个传感器和致动器组件。 致动器组件包括联接到惯性质量块的接地挠曲悬架，当致动器组件被激励以引起惯性感觉时，惯性块移动。 惯性质量包括一个围绕磁体的极片，而磁体和极片之间的接地线圈导致当电流流过惯性质量时的运动。 另一个实施例向用户提供定向触觉反馈，并且包括至少两个致动器组件，其被定向成使得惯性质量基本上正交振荡，并且可以被控制以沿着具有期望取向的单个轴输出惯性感觉。
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公开(公告)号：US06937033B2
公开(公告)日：2005-08-30
申请号：US09894985
申请日：2001-06-27
CPC分类号： G01D5/1655 , G01D5/165
摘要： A position sensor includes a resistive element positionable on a first surface. A pair of leads are on the resistive element, the pair of leads adapted to supply a first voltage, such as by being grounded. An intermediate lead is positioned on the resistive element between the pair of leads, the intermediate lead being adapted to provide a second voltage. A contact element is positionable on a second surface, the contact element adapted to contact at least a portion of the resistive element to detect a voltage at a contact position, the detected voltage being related to the position or movement of the second surface relative to the first surface. In another version, a position sensor includes a resistive element comprising first and second resistive strips. A plurality of leads are positioned on each resistive strip to provide a voltage to each resistive strip.
摘要翻译： 位置传感器包括可定位在第一表面上的电阻元件。 一对引线位于电阻元件上，该对引线适于提供第一电压，例如通过接地。 中间引线位于一对引线之间的电阻元件上，中间引线适于提供第二电压。 接触元件可定位在第二表面上，接触元件适于接触电阻元件的至少一部分以检测接触位置处的电压，检测到的电压与第二表面相对于第二表面的位置或移动有关 第一表面。 在另一个版本中，位置传感器包括包括第一和第二电阻条的电阻元件。 多个引线位于每个电阻带上以向每个电阻带提供电压。
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公开(公告)号：US06191774B1
公开(公告)日：2001-02-20
申请号：US09401044
申请日：1999-09-22
IPC分类号： G09G508
CPC分类号： G05G9/047 , A61B90/50 , A63F2300/1037 , B25J9/1692 , G01B5/008 , G01B7/004 , G01B21/04 , G05B19/4207 , G05G9/04737 , G05G2009/0474 , G05G2009/04766 , G05G2009/0477 , G06F3/016 , G06F3/0346 , G06F3/0354 , G06F3/03543 , G06F3/038 , G06F3/0383 , G06F2203/015 , G09B9/28 , G09B23/28 , G09B23/285 , 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，其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，并且包括耦合到地面并且可围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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