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公开(公告)号：US20090295552A1
公开(公告)日：2009-12-03
申请号：US12480577
申请日：2009-06-08
IPC分类号： G06F3/00
CPC分类号： G06F3/016
摘要： Vibrotactile haptic feedback devices are disclosed. For example, in one embodiment, a device includes: a mass, an actuator configured to vibrate the mass, and a coupling disposed between the actuator and the mass or between the mass and a housing, the coupling having a first configuration with a compliance and a second configuration with a compliance, the compliance of the coupling in the first configuration being different from the compliance of the coupling in the second configuration, the actuator being configured to output haptic feedback associated with the first configuration of the coupling and haptic feedback associated with the second configuration of the coupling, the haptic feedback associated with the first configuration of the coupling being different from the haptic feedback associated with the second configuration of the coupling.
摘要翻译： 公开了振动触觉触觉反馈装置。 例如，在一个实施例中，一种装置包括：质量块，构造成使质量块振动的致动器，以及设置在致动器与质量块之间或物质与壳体之间的联接器，联接器具有第一配置， 具有顺从性的第二配置，所述联接在所述第一配置中的顺应性不同于所述第二配置中的联接的顺应性，所述致动器被配置为输出与所述耦合的第一配置和与所述耦合的触觉反馈相关联的触觉反馈 耦合的第二配置，与耦合的第一配置相关联的触觉反馈不同于与耦合的第二配置相关联的触觉反馈。
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公开(公告)号：US07561142B2
公开(公告)日：2009-07-14
申请号：US10838332
申请日：2004-05-05
IPC分类号： G09G5/00
CPC分类号： G06F3/016
摘要： Method and apparatus for controlling magnitude and frequency of vibrotactile sensations for haptic feedback devices. A haptic feedback device, such as a gamepad controller, mouse, remote control, etc., includes a housing, an actuator coupled to the housing, and a mass. In some embodiments, the mass can be oscillated by the actuator and a coupling between the actuator and the mass or between the mass and the housing has a variable compliance. Varying the compliance allows vibrotactile sensations having different magnitudes for a given drive signal to be output. In other embodiments, the actuator is a rotary actuator and the mass is an eccentric mass rotatable by the actuator about an axis of rotation. The eccentric mass has an eccentricity that can be varied relative to the axis of rotation while the mass is rotating. Varying the eccentricity allows vibrotactile sensations having different magnitudes for a given drive signal.
摘要翻译： 用于控制触觉反馈装置的振动触觉感觉的幅度和频率的方法和装置。 诸如游戏手柄控制器，鼠标，遥控器等的触觉反馈装置包括壳体，联接到壳体的致动器和质量块。 在一些实施例中，质量可以由致动器振荡，并且致动器和质量块之间或者质量块和壳体之间的联接具有可变的顺应性。 改变合规性允许输出给定的驱动信号具有不同幅度的振动触觉。 在其他实施例中，致动器是旋转致动器，并且质量块是由致动器围绕旋转轴线旋转的偏心质量块。 偏心质量具有在质量旋转时可相对于旋转轴线变化的偏心度。 改变偏心度使给定驱动信号具有不同幅度的振动触觉。
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公开(公告)号：US06693622B1
公开(公告)日：2004-02-17
申请号：US09643898
申请日：2000-08-18
IPC分类号： G09G500
CPC分类号： G06F3/016
摘要： Method and apparatus for controlling magnitude and frequency of vibrotactile sensations for haptic feedback devices. A haptic feedback device, such as a gamepad controller, mouse, remote control, etc., includes a housing grasped by the user, an actuator coupled to the housing, and a mass. In some embodiments, the mass can be oscillated by the actuator and a coupling between the actuator and the mass or between the mass and the housing has a compliance that can be varied. Varying the compliance allows vibrotactile sensations having different magnitudes for a given drive signal to be output to the user grasping the housing. In other embodiments, the actuator is a rotary actuator and the mass is an eccentric mass rotatable by the actuator about an axis of rotation. The eccentric mass has an eccentricity that can be varied relative to the axis of rotation while the mass is rotating. Varying the eccentricity allows vibrotactile sensations having different magnitudes for a given drive signal to be output to the user grasping the housing.
摘要翻译： 用于控制触觉反馈装置的振动触觉感觉的幅度和频率的方法和装置。 诸如游戏手柄控制器，鼠标，遥控器等的触觉反馈装置包括由用户掌握的壳体，联接到壳体的致动器和质量块。 在一些实施例中，质量可以由致动器振荡，并且致动器和质量块之间或者质量块和壳体之间的联接具有可以改变的柔量。 改变顺应性允许对于给定的驱动信号具有不同幅度的振动触觉感觉被输出到抓握壳体的使用者。 在其他实施例中，致动器是旋转致动器，并且质量块是由致动器围绕旋转轴线旋转的偏心质量块。 偏心质量具有在质量旋转时可相对于旋转轴线变化的偏心度。 改变偏心度使得给定驱动信号具有不同幅度的振动触觉感觉被输出到抓握壳体的使用者。
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4.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：US08441444B2
公开(公告)日：2013-05-14
申请号：US11408675
申请日：2006-04-21
IPC分类号： G06F3/033
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：US07061466B1
公开(公告)日：2006-06-13
申请号：US09565207
申请日：2000-05-04
IPC分类号： G09G5/00
CPC分类号： F16F15/03 , F16F6/00 , G05G9/047 , G05G2009/0474 , G05G2009/04755 , G05G2009/04759 , G05G2009/04766 , G06F2203/015 , H01H2003/008
摘要： A force feedback interface device that provides force feedback to a joystick handle manipulated by a user. A force feedback device inputs control signals to a computer and outputs forces to a user of the force feedback device. The device includes a housing gripped by the user of the force feedback device and a joystick handle manipulable in at least two rotary degrees of freedom by the user, such as a gamepad. Sensors detect a position of the joystick handle and two direct drive actuators each provide torque in a rotary degree of freedom. Each of the actuators is a brushless, single phase actuator having a grounded excitation coil and a moving magnetic material. The joystick is mechanically constrained to not move past either of two limits where the torque output by the actuator in an unenergized state changes direction. The joystick handle can be oriented such that a center position is substantially at a local minimum reluctance position of the actuator, where the joystick is mechanically constrained to not move substantially past either local maximum reluctance position adjacent to the local minimum reluctance position. The local minimum reluctance position can in some embodiments provide a centering spring force on the joystick handle.
摘要翻译： 力反馈接口装置，其向使用者操纵的操纵杆手柄提供力反馈。 力反馈装置将控制信号输入到计算机并向力反馈装置的使用者输出力。 该装置包括由力反馈装置的使用者握持的壳体和由用户可操作的至少两个旋转自由度的操纵杆，例如游戏手柄。 传感器检测操纵杆手柄的位置，两个直接驱动执行器以旋转自由度提供扭矩。 每个致动器是具有接地励磁线圈和移动磁性材料的无刷单相致动器。 操纵杆被机械地限制为不能超过两个极限，其中致动器在未通电状态下输出的扭矩改变方向。 操纵杆手柄可以被定向成使得中心位置基本上处于致动器的局部最小磁阻位置，其中操纵杆被机械地限制为基本上不超过邻近局部最小磁阻位置的局部最大磁阻位置。 在一些实施例中，局部最小磁阻位置可以在操纵杆手柄上提供定心弹簧力。
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公开(公告)号：US6020875A
公开(公告)日：2000-02-01
申请号：US961790
申请日：1997-10-31
CPC分类号： A63F13/245 , A63F13/02 , A63F13/06 , A63F13/285 , G06F3/016 , A63F13/213 , A63F13/803 , A63F2300/1037 , A63F2300/1043 , A63F2300/1062 , A63F2300/8017
摘要： A high-fidelity mechanical transmission system for transmitting forces which can be used in a human-computer force feedback interface device connected to a host computer. The transmission system includes multiple stages, including an actuator stage coupled to an actuator and one or more additional stages. The actuator stage includes a rotatable capstan pulley coupled to the actuator, a cylindrical capstan drum, and a flexible member, such as a cable, coupling the capstan pulley and drum. The cable is coupled to the capstan drum at both ends, and causes the capstan drum to rotate for multiple revolutions. The output stage is coupled to the driven object to rotate the driven object. The output stage can include a capstan pulley, capstan drum, and cable. An interface device can include the transmission system for inputting motion signals to a connected host computer and for providing force feedback to the user. The interface device includes a user manipulatable object, such a steering wheel, joystick, or the like, which is manipulated by the user to interact with the host computer.
摘要翻译： 用于传输力的高保真机械传动系统，其可用于连接到主机的人机力反馈接口装置。 传动系统包括多级，包括联接到致动器的致动器级和一个或多个附加级。 致动器平台包括联接到致动器的可旋转主导轮，圆柱形主导轮，以及联接主导轮和滚筒的诸如电缆的柔性构件。 电缆在两端连接到主导轮，并使主导轮转动多圈。 输出级耦合到被驱动对象以旋转被驱动对象。 输出级可包括绞盘滑轮，绞盘鼓和电缆。 接口设备可以包括用于向连接的主计算机输入运动信号的传输系统和用于向用户提供力反馈。 接口设备包括用户可操纵的对象，诸如方向盘，操纵杆等，其由用户操纵以与主计算机交互。
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公开(公告)号：US06400352B1
公开(公告)日：2002-06-04
申请号：US09138304
申请日：1998-08-21
IPC分类号： G09G500
CPC分类号： G06F3/016 , A61B90/50 , A63F13/285 , A63F2300/1037 , G05G9/047 , G05G9/04737 , G05G2009/0474 , G05G2009/04766 , G06F3/03545 , G06F3/0383 , G06F2203/015 , G09B9/28 , G09B23/28
摘要： A force feedback interface device includes improvements in a mechanical linkage and drive mechanism. The force feedback device is coupled to a host computer and includes a user manipulatable object graspable by a user, at least one actuator that outputs a force on the user object, and a sensor for sensing motion of the user object. A linkage mechanism provides the user object with degrees of freedom and includes five members rotatably coupled to each other. The linkage mechanism supports the bearings of the device with protrusions rotatably coupled to central members of the linkage. The drive mechanism is preferably a belt drive that includes an idler positioned adjacent to a drive pulley and which impedes radial displacement of a belt away from the drive pulley, and thus impedes losing positive engagement of the belt, without preloading the belt. The idler can be a passive idler that does not contact the belt during operation and/or an active idler that continuously contacts the belt. Some or all portions of the linkage mechanism and the drive mechanism are preferably symmetrical, allowing low cost manufacture of the device.
摘要翻译： 力反馈接口装置包括机械联动和驱动机构的改进。 力反馈装置耦合到主计算机，并且包括用户可握持的用户可操纵的对象，在用户对象上输出力的至少一个致动器和用于感测用户对象的运动的传感器。 连动机构向使用者物体提供自由度，并且包括彼此可旋转地联接的五个构件。 连杆机构支撑具有可旋转地联接到连杆的中心构件的突起的装置的轴承。 驱动机构优选地是带驱动器，其包括邻近驱动皮带轮定位的惰轮，并且阻止皮带远离驱动皮带轮的径向位移，并且因此阻止皮带的正接合而不预加载皮带。 惰轮可以是在操作期间不接触皮带的被动惰轮和/或连续接触皮带的活动惰轮。 联动机构和驱动机构的一些或全部部分优选是对称的，允许低成本地制造装置。
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公开(公告)号：US08188981B2
公开(公告)日：2012-05-29
申请号：US11981220
申请日：2007-10-30
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：US08063892B2
公开(公告)日：2011-11-22
申请号：US11981221
申请日：2007-10-30
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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