Abstract: There is provided an operator member displaceable, in response to operation by a human operator, relative to at least one displacement axis (more preferably, multi-dimensionally). Operating state of the operator member is detected and model operation information, indicative of an operating state to be taken by the operator member, is generated, so that reaction information is generated in accordance with a difference between the detected actual operating state and an operating state indicated by the model operation information. Reactive force is imparted to the operator member in accordance with the generated reaction information. In this way, a model operation amount can be informed to the human operator in the form of the reactive force. Further, by imparting separate reactive forces to a multi-axially operable operator member, appropriate information can be provided to the human operator during operation of the operator member, thereby achieving sensory feedback to the human operator.

Abstract: User interface devices, such as displays and keyboards, are automatically deployed using pulse-width-modulated controlled force in a first safety period. Once safe, force and speed are increased to full deployment. At full deployment, electrical braking dissipates mechanical energy and power is throttled down to hold device against deployment stop.

Abstract: An apparatus for interfacing the movement of a shaft with a computer includes a support, a gimbal mechanism having two degrees of freedom, and three electromechanical transducers. When a shaft is engaged with the gimbal mechanism, it can move with three degrees of freedom in a spherical coordinate space, where each degree of freedom is sensed by one of the three transducers. A fourth transducer can be used to sense rotation of the shaft around an axis.

Abstract: A method and apparatus for shaping force signals for a force feedback device. A source wave is provided and is defined by a set of control parameters (including a steady state magnitude, a frequency value and a duration value) and modified by a set of impulse parameters (including an impulse magnitude, and a settle time representing a time required for the impulse magnitude to change to the steady-state magnitude). Optionally, application parameters specifying a direction of force signal and trigger parameters specifying activating buttons can also be provided for the source wave. Using a host processor or a local processor, the force signal is formed from the source wave and the sets of control parameters and impulse parameters, where the force signal includes an impulse signal followed by a continual steady-state signal after an expiration of the settle time.

Abstract: A method and apparatus is described for applying haptic feedback using a vacuum source. A housing includes a cavity. The cavity can be positioned near a moveable member such that the cavity of the housing and the moveable member define a volume. The volume has an associated internal pressure. The internal pressure within the volume can be modified based on a received signal such that a resistive force is applied to the moveable member as the pressure is modified.

Abstract: A haptic display includes at least one haptic device that can give tactile feedback instead of visible feedback. Each of the haptic devices converts a signal from a signal producing unit into force or tactile pattern. The haptic device does not require a large mass, so that it can be provided on almost any portion or part within the body of a mobile apparatus. For example, the haptic device can be embedded under a touch panel display that constitutes both input and output device. By providing the haptic devices under respective menu/function button areas displayed on the touch panel display, it is possible to stimulate the specific button in response to the user-input-operation, thereby directly providing the tactile feedback to the user's finger touching the corresponding button.

Abstract: A pushbutton user interface enables a user to preview the effect of activating a pushbutton of the interface before the pushbutton is activated. The pushbutton user interface can be implemented so that an input (preview input) to the pushbutton that does not produce an activation of the pushbutton is sensed and, in response to the sensed input, a preview is displayed that indicates the effect of activating the pushbutton. The preview input can be sensed using, for example, a force-sensitive resistor, potentiometer or strain gauge. The preview display can include, for example, a visual display, an audio display, a haptic display, or a combination of two or three such displays. The pushbutton user interface can be implemented so that the preview input and an activation input (i.e., an input that produces an activation of the pushbutton) are sensed as a result of an input to the pushbutton along the same axis or along different (e.g., orthogonal) axes.

Abstract: A force feedback device comprising an operation unit, an actuator for providing a feel sensation (force) to the operation unit and a control unit for controlling the actuator, wherein the control unit stores a plurality of different unit force patterns, forms composite force patterns by combining the unit force patterns and controls the actuator based on the composite force patterns to provide feel sensations to the operation unit.

Abstract: Force effects for a graphical user interface of a computer are provided based on user preference information, which indicates the types of graphical objects in the graphical user interface which are to have force effects associated with them, and at least one particular force effect assigned to each of those types of graphical objects. An output of a force sensation by a haptic feedback device to the user is based on those assigned force effects and occurs when a displayed cursor controlled by a user interacts with a graphical object having one of the types. An architecture for a host computer allowing multi-tasking application programs to interface with a feedback device is also disclosed.

Abstract: A force-feedback input device includes an operating unit to be operated by an operator, a position detector for detecting an operating state of the operating unit, a torque generator for applying a force to the operating unit, a controller for controlling the driving of the torque generator so that a force in accordance with the operating state is applied to the operating unit, an ambient thermometer for detecting the ambient temperature of the torque generator, a storage unit, and a power supply. The controller calculates a new estimated temperature of the torque generator based on higher one of the ambient temperature, and an estimated temperature immediately before the power stoppage, which is read from the storage unit, and reduces the current supplied to the torque generator to cool the torque generator when the new estimated temperature exceeds a predetermined value.

Abstract: A system and method of interactive evaluation of a geometric model is provided. The method includes the steps of acquiring a haptic device position and orientation with respect to a surface of the geometric model and mapping the haptic device position and orientation into a geometric model coordinate reference system. The method also includes the steps of determining a closest point position and orientation on the surface of the geometric model to the haptic device position and extracting a surface property at the closest point position and orientation. The method further includes the steps of determining a stick-to-surface force and a property feedback force using the surface property at the closet point position and orientation and applying the stick-to-surface force and property feedback force to control a location and force output of the haptic device.

Abstract: An information input device has a device body made of an elastically deformable material. The device body can be held in a palm and operated with one hand. The device body is provided in its face with a touchpad. A pressure sensor and an acceleration sensor are independently provided in the device body. The device body includes therein an RF module for transmitting a sensor signal from each sensor to a personal computer. By a control unit (CPU) in the device body, for example, a determination signal for determining an operation on the touchpad as input data is assigned to the pressure sensor, and a canceling signal for canceling the determination signal is assigned to the acceleration sensor. Thus, the user need not operate the device body on a desk or the like. The user can easily hold and operate the device body with one hand, without restriction of place to operate.

Abstract: A method and apparatus for providing a click surface in a graphical environment, such as a graphical user interface, implemented on a host computer for use with a force feedback interface device. A displayed cursor is controlled by a user-moveable user object, such as a mouse, of the interface device. A click surface is displayed with an associated graphical object, such as a graphical button or an edge of a window, icon, or other object. When the click surface is contacted by the cursor, a force is output opposing movement of the user object in a direction into the click surface and into the graphical object. When the user object has moved to or past a trigger position past the contact with the click surface, a command gesture signal is provided to the host computer indicating that the graphical object has been selected as if a physical input device on the user object, such as a button, has been activated by the user.

Abstract: A user can selectively engage some part or all of the haptic display of a haptic interface device to produce an enhanced interaction with an environment with which the user interacts using the haptic interface device. Further, the haptic interface device can be implemented so that the part of the haptic display that is engaged can be engaged to varying degree. The degree of engagement with the haptic display (together with whether part or all of the haptic display is engaged) determines the manner in which the haptic display is experienced by the user. The selective engagement with the haptic display is enabled by adding a haptic clutch model to the underlying haptic model used to produce the haptic display, the haptic clutch model engaging some part or all of the haptic model in response to user input. The addition of a haptic clutch model to the haptic model used to produce a haptic display provides a richer user interaction than is provided by a haptic display produced by the haptic model alone.

Abstract: 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.

Abstract: A design interface tool for designing force sensations for use with a host computer and haptic feedback interface device. A haptic feedback device communicates with a host computer that displays the interface tool. The user selects and characterizes force sensations using the interface tool, and a graphical representation of the characterized force sensation is displayed. The characterized force sensation is output to a user manipulatable object of the force feedback device so that the user can feel the designed force sensation The user can include multiple force sensations in a compound force sensation, where the compound sensation is graphically displayed to indicate the relative start times and duration of each of the force sensations. The user can also associate a sound with the force sensation, such that the sound is output in conjunction with the output of the force sensation.

Abstract: A method of controlling the display of an articulated graphical image in a graphical environment comprises sensing manipulation of a user object, controlling the displayed position or shape of the articulated graphical image in relation to the sensed manipulation, and when the articulated graphical image interacts with a graphical object, changing the relationship between the displayed position or shape of the articulated graphical image and the sensed manipulation. In one version, the display of the graphical image is calculated by an algorithm utilizing numerical methods.

Abstract: A reconfigurable haptic interface includes at least one pod adapted to be removeably mounted on one or more portions of a moveable object. The at least one pod includes at least one actuator adapted to communicate with the one or more portions of the moveable object. The system further includes a plurality of transmitter/receiver units, which are in a communication relationship with the at least one pod. The plurality of transmitter/receiver units detect and communicate relative position information of the at least one pod to a host computer. The host computer processes the relative position information of the at least one pod to control actuation of the at least one actuator located on the at least one pod.

Abstract: Techniques for interacting with a client process on a mobile device connected to a network over a wireless link to navigate an application includes managing information at a mobile application server executing on a platform connected to the network. The information includes first data describing a graphical element for display on the mobile device. The first data also includes a first reference to the graphical element and a second reference to a page associated with requesting a service from a first application. Second data, based on the first data, is sent to the client process for rendering the graphical element on the mobile device. The second data includes the first reference. Third data is received indicating the first reference in response to a user of the mobile device selecting the graphical element. In response to receiving the third data, the page from the first application is requested based on the second reference.

Abstract: In the case where the operator is moving the cursor on the computer screen through the use of a mouse, when the cursor display moves to a position which coincides with any of the menu display, a boundary position of the menu display or a position which coincides with the icon display, pressure sensing power generating means within the mouse is actuated to give a shock force or the like to the operator. This enables the operator to recognize the grasp in the operating state by not only visual judgment but also by hand.

Abstract: Power management for an interface device that is manipulated by a user and in communication with a host computer and provides forces to the user. The device includes a sensor and an actuator. One embodiment provides first power from the host computer over a serial interface and second power from a power adapter. Another embodiment provides first power from the host computer and second power from a power storage device on the interface device that supplies power to the actuator. Another embodiment provides a power adapter supplying a portion of the first power to the sensor and a portion to the actuator, and a power storage device on the interface device provides second power to the actuator.

Abstract: A method and apparatus for providing dynamic force sensations for use with a force feedback interface device. A force feedback interface device is connected to a host computer that implements a graphical environment. The host sends commands and command parameters to the interface device to initiate and characterize dynamic force sensations output on a user manipulatable object, such as a joystick. The interface device can include a local microprocessor for implementing force sensations by controlling actuators and reading sensors according to the host commands. A dynamic force routine can control the dynamic force sensations by implementing a simulated physical system including a simulated mass capable of motion independent of the user object. The physical system provides forces on the user object influenced by motion of both the user object and the simulated mass.

Abstract: Methods are provided for stabilizing a haptic interface of a computer-controlled one-port virtual-reality system or a two-port teleoperation system comprising a robot manipulator. “Stabilizing” means to reduce the sense of vibration in a haptic interface. A Passivity Observer is computed to measure the amount of energy produced at the haptic interface, and a Passivity Controller is calculated to damp or absorb excess energy which causes the sense of vibration. This invention also provides a “filter,” i.e. a threshold function which returns zero velocity if the computed estimated velocity is less than a small predetermined value, which may be applied to estimated velocities determined in impedance-based methods of this invention so as to remove noise in the velocity estimate. To improve speed of reaction of the systems, this invention also provides methods for resetting the Passivity Observer to zero when it has been too positive for too long a period of time.

Abstract: A design interface tool for designing force sensations for use with a host computer and force feedback interface device. A force feedback device is connected to a host computer that displays the interface tool. Input from a user is received in the interface to select a type of force sensation to be commanded by a host computer and output by a force feedback interface device. Input, such as parameters, is then received from the user which designs and defines physical characteristics of the selected force sensation. A graphical representation of the characterized force sensation is displayed on the host computer which provides a visual demonstration of a feel of the characterized force sensation so that the user can view an effect of parameters on said force sensation.

Abstract: A computer mouse device for tracking user input and providing tactile feedback. A housing includes a lower portion designed to move over a flat surface, and a casing portion engaged by a palm of a user's hand. A sensor is provided within the housing for tracking the motion of the housing with repect to the flat surface, where motion data from the sensor is transmitted to a host computer for updating the status of a cursor on a graphical display displaying one or more graphical details. The mouse device receives over signal lines a sensory feedback signal from the host computer when the displayed cursor interacts with a graphical detail in response to the motion data. An actuator is included within and coupled to the housing and generates motion of the casing in a direction substantially orthogonal to the flat surface, delivering a tactile sensation to the user's palm in response to the sensory feedback signal received over the signal lines.

Abstract: A haptic feedback interface device and actuator assembly providing inertial tactile sensations. An interface device includes a housing that is physically contacted by a user, a sensor device detecting said manipulation of the interface device by the user, and an actuator assembly of the present invention. The assembly includes an actuator operative to output a force and a mechanism coupling the actuator to the device housing. The mechanism allows the actuator to be moved and act as an inertial mass when in motion to provide an inertial force that is transmitted to the user. The mechanism includes at least two separated portions, each of the portions coupled to a different portion of the actuator. The mechanism is preferably a flexure having at least two flex joints.

Abstract: A moving magnet actuator for providing haptic feedback. The actuator includes a grounded core member, a coil is wrapped around a central projection of the core member, and a magnet head positioned so as to provide a gap between the core member and the magnet head. The magnet head is moved in a degree of freedom based on an electromagnetic force caused by a current flowed through the coil. An elastic material, such as foam, is positioned in the gap between the magnet head and the core member, where the elastic material is compressed and sheared when the magnet head moves and substantially prevents movement of the magnet head past a range limit that is based on the compressibility and shear factor of the material. Flexible members can also be provided between the magnet head and the ground member, where the flexible members flex to allow the magnet head to move, provide a centering spring force to the magnet head, and limit the motion of the magnet head.

Abstract: A pushbutton user interface enables a user to preview the effect of activating a pushbutton of the interface before the pushbutton is activated. The pushbutton user interface can be implemented so that an input (preview input) to the pushbutton that does not produce an activation of the pushbutton is sensed and, in response to the sensed input, a preview is displayed that indicates the effect of activating the pushbutton. The preview input can be sensed using, for example, a force-sensitive resistor, potentiometer or strain gauge. The preview display can include, for example, a visual display, an audio display, a haptic display, or a combination of two or three such displays. The pushbutton user interface can be implemented so that the preview input and an activation input (i.e., an input that produces an activation of the pushbutton) are sensed as a result of an input to the pushbutton along the same axis or along different (e.g., orthogonal) axes.

Abstract: The present invention provides a method of human-computer interfacing that provides haptic feedback to control interface interactions such as scrolling or zooming within an application. Haptic feedback in the present method allows the user more intuitive control of the interface interactions, and allows the user's visual focus to remain on the application. The method comprises providing a control domain within which the user can control interactions. For example, a haptic boundary can be provided corresponding to scrollable or scalable portions of the application domain. The user can position a cursor near such a boundary, feeling its presence haptically (reducing the requirement for visual attention for control of scrolling of the display). The user can then apply force relative to the boundary, causing the interface to scroll the domain. The rate of scrolling can be related to the magnitude of applied force, providing the user with additional intuitive, non-visual control of scrolling.

Abstract: An interface device for interfacing a user with a computer, the computer running an application program and generating a graphical image and a graphical object, comprises a user manipulatable object in communication with the computer, a sensor to detect a manipulation of the object, the sensor providing a signal to the computer to control the graphical image, and an actuator adapted to provide a haptic sensation to the palm of the user in relation to an interaction between the graphical image and the graphical object, the actuator comprising a member that is deformable to provide the haptic sensation.

Abstract: A force-applying input device has a controller which calculates a torque component of an actuator drive signal corresponding to a current position by multiplying the sum of the current position and the product of a current speed and a coefficient by an elastic modulus. In addition, the controller also calculates a torque component of the actuator drive signal corresponding to the current speed by multiplying the current speed by a coefficient of viscous friction.