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    Position sensing methods for interface devices
    10.
    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：US08552982B2

    公开(公告)日：2013-10-08

    申请号：US10657854

    申请日：2003-09-09

    申请人： Kenneth M. Martin ,  Adam C. Braun ,  Ryan D. Bruneau

    发明人： Kenneth M. Martin ,  Adam C. Braun ,  Ryan D. Bruneau

    IPC分类号： G09G5/08

    CPC分类号： A63F13/22 ,  A63F13/06 ,  A63F13/21 ,  A63F13/285 ,  A63F2300/1037 ,  A63F2300/1043

    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。