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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：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：US07233313B2
公开(公告)日：2007-06-19
申请号：US10712199
申请日：2003-11-13
CPC分类号： G06F3/016 , A63F2300/1037 , G05G9/047 , G05G2009/0477 , G06F3/0219 , G06F3/0354 , G06F3/0362 , G06F3/0395 , G06F3/0482 , G06F2203/013 , G06F2203/014 , H01H2003/008 , Y10S715/97 , Y10S715/974 , Y10T74/20201
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.
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公开(公告)号：US06686911B1
公开(公告)日：2004-02-03
申请号：US09680408
申请日：2000-10-02
IPC分类号： G09G500
CPC分类号： G06F3/016 , A63F2300/1037 , G05G9/047 , G05G2009/0477 , G06F3/0219 , G06F3/0354 , G06F3/0362 , G06F3/0395 , G06F3/0482 , G06F2203/013 , G06F2203/014 , H01H2003/008 , Y10S715/97 , Y10S715/974 , Y10T74/20201
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：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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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：US6154201A
公开(公告)日：2000-11-28
申请号：US179382
申请日：1998-10-26
CPC分类号： G06F3/016 , G01C21/3664 , G05G9/047 , G06F3/0219 , G06F3/0354 , G06F3/03543 , G06F3/03548 , G06F3/0362 , G06F3/0395 , G06F3/0482 , G06F3/0485 , A63F2300/1037 , G05G2009/0477 , G06F2203/013 , G06F2203/014 , H01H2003/008 , Y10S715/97 , Y10T74/20262
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.
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公开(公告)号：US06639581B1
公开(公告)日：2003-10-28
申请号：US09376649
申请日：1999-08-18
IPC分类号： G09G500
CPC分类号： G06F3/016 , G05G9/047 , G06F2203/015 , G09B23/285
摘要： A flexure mechanism for an interface device that interfaces a user with a computer system. An interface device includes a manipulandum physically contacted by the user. A five-bar closed-loop mechanism is coupled to the manipulandum to provide two rotary degrees of freedom to the manipulandum. The mechanism includes members coupled to each other by flexible couplings allowing rotation of the members. In preferred embodiments, four or five of the members are coupled together by flexible couplings that allow bending, thereby forming a unitary piece, where the couplings are oriented along axes of rotation of the mechanism. A sensor senses a position of the manipulandum outputs a sensor signal, and in some embodiments actuators are coupled to the mechanism to output a force to the manipulandum in particular degrees of freedom. The manipulandum can be a joystick handle or portion of a sphere, where the device in one embodiment can be a handheld gamepad or similar controller.
摘要翻译： 用于将用户与计算机系统接口的接口设备的弯曲机构。 接口设备包括用户实际接触的操作。 五杆闭环机构与操作联系在一起，为操纵提供两个旋转自由度。 该机构包括通过允许构件旋转的柔性联接器彼此联接的构件。 在优选实施例中，四个或五个构件通过允许弯曲的柔性联接器联接在一起，从而形成整体构件，其中联接件沿着机构的旋转轴线定向。 传感器感测操纵的位置输出传感器信号，并且在一些实施例中，致动器联接到机构以在特定的自由度上向操纵力输出力。 操纵杆可以是操纵杆手柄或球体的一部分，其中一个实施例中的装置可以是手持式操纵手柄或类似的控制器。
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公开(公告)号：US09134795B2
公开(公告)日：2015-09-15
申请号：US10944628
申请日：2004-09-17
CPC分类号： G06F3/016 , G06F2203/013
摘要： Directional haptic feedback provided in a haptic feedback interface device. An interface device includes at least two actuator assemblies, which each include a moving inertial mass. A single control signal provided to the actuator assemblies at different magnitudes provides directional inertial sensations felt by the user. A greater magnitude waveform can be applied to one actuator to provide a sensation having a direction approximately corresponding to a position of that actuator in the housing. In another embodiment, the actuator assemblies each include a rotary inertial mass and the control signals have different duty cycles to provide directional sensations. For power-consumption efficiency, the control signals can be interlaced or pulsed at a different frequency and duty cycle to reduce average power requirements.
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公开(公告)号：US06864877B2
公开(公告)日：2005-03-08
申请号：US09967496
申请日：2001-09-27
CPC分类号： G06F3/016 , G06F2203/013
摘要： Directional haptic feedback provided in a haptic feedback interface device. An interface device includes at least two actuator assemblies, which each include a moving inertial mass. A single control signal provided to the actuator assemblies at different magnitudes provides directional inertial sensations felt by the user. A greater magnitude waveform can be applied to one actuator to provide a sensation having a direction approximately corresponding to a position of that actuator in the housing. In another embodiment, the actuator assemblies each include a rotary inertial mass and the control signals have different duty cycles to provide directional sensations. For power-consumption efficiency, the control signals can be interlaced or pulsed at a different frequency and duty cycle to reduce average power requirements.
摘要翻译： 在触觉反馈接口设备中提供的定向触觉反馈。 接口装置包括至少两个致动器组件，每个致动器组件包括运动的惯性质量块。 以不同的幅度提供给致动器组件的单个控制信号提供了用户感觉到的定向惯性感觉。 可以对一个致动器施加更大幅度的波形以提供具有大致对应于该致动器在壳体中的位置的方向的感觉。 在另一个实施例中，致动器组件各自包括旋转惯性质量块，并且控制信号具有不同的占空比以提供定向感觉。 对于功耗效率，控制信号可以以不同的频率和占空比进行隔行扫描或脉冲以降低平均功率需求。
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