Method and apparatus for controlling force feedback interface systems utilizing a host computer

{
  "publication_number": "US6982700B2",
  "country": "US",
  "kind": "B2",
  "title": "Method and apparatus for controlling force feedback interface systems utilizing a host computer",
  "abstract": "A method and apparatus for controlling and providing force feedback using an interface device manipulated by a user. A microprocessor is provided local to the interface device and reads sensor data from sensors that describes the position and/or other information about a user object moved by the user, such as a joystick. The microprocessor controls actuators to provide forces on the user object and provides the sensor data to a host computer that is coupled to the interface device. The host computer sends high level host commands to the local microprocessor, and the microprocessor independently implements a local reflex process based on the high level command to provide force values to the actuators using sensor data and other parameters. A provided host command protocol includes a variety of different types of host commands and associated command parameters. By providing a relatively small set of high level host commands and parameters which are translated into a panoply of forces, the protocol further shifts the computational burden from the host computer to the local microprocessor and allows a software developer to easily create force feedback applications.",
  "claims": [
    "1. A device comprising: a user manipulatable object moveable in at least one degree of freedom; at least one sensor operative to detect a position of said user maniputable object; at least one actuator operative to output a force based on a control signal; and a local controller in communication with said at least one sensor and said at least one actuator, and operative to: receive a force command, and output said control signal in response to said force command, wherein said force command describes a tactile sensation and comprises a deadband parameter that specifies a deadband region centered about the origin of the at least one degree of freedom.",
    "2. A device as recited in claim 1, wherein said tactile sensation comprises a groove sensation.",
    "3. A device as recited in claim 1, wherein no force is output when said user manipulatable object is in said deadband region.",
    "4. A device as recited in claim 1, wherein said force command comprises a saturation parameter.",
    "5. A device as recited in claim 4, wherein said saturation parameter is expressed as a percentage of a maximum force output of said at least one actuator.",
    "6. A device as recited in claim 1, wherein said tactile sensation comprises a condition force sensation.",
    "7. A device as recited in claim 1, wherein said tactile sensation comprises a barrier tactile sensation.",
    "8. A device as recited in claim 7, wherein said force command comprises a hardness parameter that indicates a magnitude of resistance force applied to said user manipulatable object.",
    "9. A device as recited in claim 7, wherein said force command comprises a location parameter that indicates a location of said barrier region in said degree of said user manipulatable object.",
    "10. A device as recited in claim 1, wherein a force output magnitude is approximately zero while said user maniputable object is in deadband region.",
    "11. A device as recited in claim 1, wherein said force command comprises a restoring force.",
    "12. A device as recited in claim 11, wherein said restoring force is applied only within a region determined by a predetermined snap-out distance from said origin."
  ],
  "description_excerpt": "The present invention relates generally to interface devices between humans and computers, and more particularly to computer interface devices that provide force feedback to the user.\n\nComputer systems are used extensively in many different industries to implement computer controlled simulations, games, and other application programs. More particularly, these types of games and simulations are very popular with the mass market of home consumers. A computer system typically displays a visual environment to a user on a display screen or other visual output device. Users can interact with the displayed environment to play a game, experience a simulation or “virtual reality” environment, or otherwise influence events or images depicted on the screen. Such user interaction can be implemented through the use of a human-computer interface device, such as a joystick, “joypad” button controller, mouse, trackball, stylus and tablet, or the like, that is connected to the computer system controlling the displayed environment. The computer updates the simulation or game in response to the user's manipulation of an object such as a joystick handle or mouse, and provides feedback to the user utilizing the display screen and, typically, audio speakers.\n\nIn some interface devices, tactile (“haptic”) feedback is also provided to the user, more generally known as “force feedback.” These types of interface devices can provide physical sensations to the user manipulating the object of the interface device. Typically, motors or other actuators are coupled to the object and are connected to the controlling computer system.",
  "cpc": [
    "G06F 3/016",
    "A63F 13/21",
    "A63F 13/23",
    "A63F 13/24",
    "A63F 13/285",
    "A63F 13/57",
    "A63F 13/803",
    "A63F 2300/1006",
    "A63F 2300/1025",
    "A63F 2300/1037",
    "A63F 2300/1043",
    "A63F 2300/64",
    "A63F 2300/8017",
    "A63F 2300/8082",
    "B25J 9/1692",
    "G01B 21/04",
    "G01B 5/008",
    "G01B 7/004",
    "G05B 19/4207",
    "G05G 2009/04766",
    "G05G 2009/04777",
    "G05G 9/047",
    "G06F 2203/014",
    "G06F 2203/015",
    "G06F 3/011",
    "G06F 3/038",
    "G06F 3/0383",
    "H01H 2003/008"
  ],
  "ipc": [
    "A63F 13/06",
    "B25J 9/16",
    "G01B 21/04",
    "G01B 5/008",
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    "G05B 19/42",
    "G05D 25/02",
    "G05G 9/047",
    "G06F 3/00",
    "G06F 3/01",
    "G06F 3/038",
    "G09G 5/08"
  ],
  "assignees": [
    "Immersion Corp"
  ],
  "inventors": [
    "Louis B. Rosenberg",
    "Adam C. Braun",
    "Mike D. Levin"
  ],
  "filing_date": "2003-04-14",
  "publication_date": "2006-01-03",
  "grant_date": "2006-01-03",
  "priority_date": "1993-07-16",
  "application_number": "US-41327403-A",
  "family_id": "27064587",
  "cited_by_count": 79,
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