Abstract: A force feedback interface and method providing a selective disturbance filter for providing selective reduction or elimination of displayed disturbances associated with output force sensations. A force feedback interface device is connected to a host computer that displays a graphical environment. The interface device includes a user manipulatable object, a sensor for detecting movement of the user object, and an actuator to apply output forces to the user object. A microprocessor outputs controlling force signals to the actuator, receives sensor signals from the sensors and reports locative data to the host computer indicative of the movement of the user object. The host computer updates a position of a displayed user-controlled graphical object in the graphical environment based on the reported data.

Abstract: An assembly and method for installing a back-band utilize ratchet straps and pawl members interconnected with the back band and cockpit area of a kayak. The pawl member may be mounted to either the back-band or kayak. The ratchet strap has a first end insertable in the pawl members, and inclined teeth engage the pawl member. A second end of the ratchet strap is secured to either the kayak or back-band. In addition, a band and buckle assembly may interconnect with the back-band and kayak to support and align the back-band in the kayak cockpit.

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.

Abstract: A low-cost, high-resolution capacitive position sensor is provided using a variable capacitor. A vane moves parallel to a stator, where a dielectric is interposed between vane and stator, such that the vane overlaps at least a portion of the stator, creating a capacitance that varies as the vane moves relative to the fixed stator. The capacitor circuit outputs a signal having a phase shift relative to an input driver signal based on the relative positions of the vane and stator. The phase-shifted signal is used to derive the absolute position of the vane with respect to the stator. Two or more stator can be provided to provide two phase-shifted signals and a difference signal free of common mode effects. Enhanced embodiments include interdigitated stator portions for greater sensing resolution, and/or a two or three-pole filter to double or triple the dynamic range of the sensor.

Abstract: A control device including a housing and a carrier moveable with respect to the housing in a first rotary degree of freedom. A first sensor senses the movement of the carrier and outputs a first control signal. A roller rotatably coupled to the carrier rotates with the carrier in the first degree of freedom and rotates independently of the carrier in a second rotary degree of freedom. A second sensor senses rotary motion of the roller and outputs a second control signal. Preferably, an arm member coupled between carrier and housing pivots about an axis. A third sensor, such as a switch, can be used to detect when the carrier has been pushed in a direction substantially orthogonal to a plane of rotation of the arm member. Force feedback can also be provided in the rotary degrees of freedom of the control device.

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 an object grasped and moved by the user, such as a joystick. The microprocessor provides the sensor data to a host computer that is coupled to the interface device by a communication bus that preferably includes a serial interface. In a “host-controlled” embodiment, the host computer calculates force values using the sensor data and other parameters of a host application program and sends the force values to the local microprocessor, which directly provides the force values to actuators to apply forces to the user object.

Abstract: A control device including a support and multiple cylinders. A first cylinder may be rotated and translated, and a first sensor senses the rotation of the first cylinder and outputs a first control signal representative of the rotation. A second cylinder is positioned parallel to the first cylinder and also may be rotated and translated. A second sensor senses the translation of the first cylinder and outputs a second control signal representative of that translation. Optionally, a third sensor can sense the independent rotation of the second cylinder and can output a second control signal representative of the rotation, and/or a fourth sensor may be used to sense translation similarly for the second cylinder. The first and said second cylinders provide a greater number of contact points for the user than a single cylinder and thus greater stability and accuracy when controlling a cursor or other entity.

Abstract: A force feedback system provides components for use in a force feedback system including a host computer and a force feedback interface device. An architecture for a host computer allows multi-tasking application programs to interface with the force feedback device without conflicts, where a single active application may output forces. A background application also provides force effects to be output and allows a user to assign force effects to graphical objects in a graphical user interface. Force feedback effects and structures are further described, such as events and enclosures.

Abstract: A force feedback mouse interface device connected to a host computer and providing realistic force feedback to a user. The mouse interface device includes a mouse object and a linkage coupled to the mouse that includes a plurality of members rotatably coupled to each other in a planar closed-loop linkage and including two members coupled to ground and rotatable about the same axis. Two actuators, preferably electromagnetic voice coils, provide forces in the two degrees of freedom of the planar workspace of the mouse object. Each of the actuators includes a moveable coil portion integrated with one of the members of the linkage and a magnet portion coupled to the ground surface through which the coil portion moves. The grounded magnet portions of the actuators can be coupled together such that a common flux path between the magnet portions is shared by both magnets.

Abstract: An interface device and method for providing enhanced cursor control with force feedback. A force feedback interface device includes a manipulandum, such as a mouse, that is moveable in a local workspace. The device is coupled to a host computer that displays a cursor in a graphical environment, such as a GUI, on a display screen. An interior region and a border region in the local workspace is defined. One mapping of device movement to cursor movement is used for the interior region, and a different mapping is used for the border region. Mapping methods include ballistics, absolute, linear, rate control, and variable absolute. Rate control embodiments can be single axis or dual axis. In one embodiment, when the mouse moves from the interior region to the border region, the mapping providing the greater cursor velocity is used to better conserve device workspace in the direction of travel and to decrease any sense of mapping mode change to the user.

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. The user selects a type of force sensation and designs and defines physical characteristics of the selected force sensation using the interface tool. A graphical representation of the characterized force sensation is displayed. The user can include a plurality of 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 easily adjust the start times and durations of the force sensations using the graphical representation. The force sensations are output to a user manipulandum of a force feedback device to be felt by the user, where the graphical representation is updated in conjunction with the output of the force sensation.

Abstract: A method and apparatus for interfacing the motion of a user-manipulable object with an electrical or computer system includes a user object physically contacted by a user. A gimbal mechanism is coupled to the user object, such as a joystick or a medical tool, and provides at least two degrees of freedom to the user object. The gimbal mechanism preferably includes multiple members, at least two of which are formed as a unitary member which provides flex between the selected members. An actuator applies a force along a degree of freedom to the user object in response to electrical signals produced by the computer system. A sensor detects a position of the user object along the degree of freedom and outputs sensor signals to the computer system.

Abstract: An interface device and method for providing indexing cursor control with force feedback. A force feedback interface device includes a manipulandum, such as a mouse, that is moveable in a device workspace. The device is coupled to a host computer that displays a cursor in a graphical environment, such as a GUI, on a display screen, where the cursor is controlled by motion of the manipulandum. A force can be output on the mouse based on interactions in the GUI. Indexing features allow control of the cursor when an offset between local and display frames exists, allow the user to reduce the offset, and reduce disconcerting collisions of the mouse with physical workspace limits. Some indexing features include rate control borders for the device workspace, allowing rate control of a cursor when the mouse gets close to a physical limit; and border scaling allowing acursor to always be moved to a screen edge.

Abstract: A low-cost force feedback interface device for providing low cost force feedback for enhancing interactions and manipulations in a graphical environment provided by a computer. One embodiment provides a mouse movable in a planar workspace and providing output sensor signals representative of that movement. Mouse button movement is detected to send command signals to the host computer, and an actuator coupled to the button applies an output force in the degree of freedom of the button. In a different embodiment, a force feedback pointing device includes a cylindrical member that may be rotated about an axis and translated along that axis to provide sensor signals to control a position of a graphical object such as a cursor. A command sensor detects motion of the cylindrical member perpendicular to the translation, such as when the cylindrical member is pressed down by the user. An actuator applies an output force in the perpendicular degree of freedom of the cylindrical member.

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. The user selects a type of force sensation and designs and defines physical characteristics of the selected force sensation using the interface tool. A graphical representation of the characterized force sensation is displayed, which provides a visual demonstration of a feel of the characterized force sensation. The force sensation is output to a user manipulatable object of a force feedback device to be felt by the user, where the graphical representation is updated in conjunction with the output of the force sensation. 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. The user can iteratively modify force sensation characteristics and feel the results, as well as synchronize force sensations with sounds.

Abstract: A haptic pointing device includes a plurality of rigid, elongated proximal members, each connected to a separate rigid, elongated distal member through an articulating joint. The other end of each proximal member is coupled to an actuator such as a motor, causing that member to swing within a separate plane perpendicular to the shaft of the motor in response to a control signal. An end-effector is interconnected to the second end of each distal member through an articulating joint, such that as the actuators move the proximal members, the end-effector moves in space. In a preferred embodiment, the device includes at least three proximal members and three distal members, and the end-effector is coupled to a user-graspable element such as a stylus which retains a preferred orientation in space as the members are driven by the actuators.

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 for providing safe and low-cost force feedback peripherals for consumer applications. A device microprocessor local to an interface device is coupled to the host by a first interface bus. The microprocessor receives host commands from the host computer on the first interface bus, such as an RS-232 interface, and commands an actuator to apply a force to a user object, such as a joystick, in response to host commands. A sensor detects positions of the user object and outputs signals to the host on a second interface bus, such as a PC game port bus, separate from the first bus. In a “recoil” embodiment, a user initiates force feedback by pressing a button on the joystick, which sends an activation signal to the actuator. In other recoil embodiments, the host computer can transmit one or more enable signals and/or activation signals to the actuator to enable or command forces.

Abstract: A method and apparatus for interfacing the motion of an object with a digital processing system includes a sensor for detecting movement of the object along a degree of freedom. A passive pneumatic or hydraulic damper is coupled to the object to provide a damping resistance to the object along the degree of freedom and resist a movement of the object. The damping resistance is provided by regulating the control of a fluid with a digital computing apparatus, thus providing a low-cost, low-power force-feedback interface that is safe for the user. The damper and sensor provide an electromechanical interface between the object and the electrical system. A gimbal or other interface mechanism can be coupled between the damper and the object. The interface is well suited for simulations or video games in which an object such as a joystick is moved and manipulated by the user.

Abstract: A low-cost tactile feedback mouse device for providing haptic feedback to a user for enhancing interactions and manipulations in a graphical environment provided by a computer. The mouse device includes a sensor device able to detect the movement of the mouse in the planar workspace. An actuator is coupled to the housing of the mouse and applies an inertial force in a particular degree of freedom, preferably along an axis perpendicular to the planar workspace, where the inertial force is transmitted through the housing to the user. The actuator outputs the inertial force preferably by linearly moving an inertial mass along the Z-axis. The output force is correlated with interaction of a controlled graphical object, such as a cursor, with other graphical objects in a graphical environment displayed by the host computer. The inertial force can be a pulse, vibration, texture force, or other type of force.