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 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 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.

Abstract: A force feedback interface having isotonic and isometric control capability coupled to a host computer that displays a graphical environment such as a GUI. The interface includes a user manipulatable physical object movable in physical space, such as a mouse or puck. A sensor detects the object's movement and an actuator applies output force on the physical object. A mode selector selects isotonic and isometric control modes of the interface from an input device such as a physical button or from an interaction between graphical objects. Isotonic mode provides input to the host computer based on a position of the physical object and updates a position of a cursor, and force sensations can be applied to the physical object based on movement of the cursor. Isometric mode provides input to the host computer based on an input force applied by the user to the physical object, where the input force is determined from a sensed deviation of the physical object in space.

Abstract: Method and system for efficiently checking and verifying the positions of components on an object such as a circuit board using a probe apparatus. A component of the object, positioned at a particular location on the object, is selected by the user using the probe apparatus. Reference information about a correct component positioned at the location of the selected component is displayed or otherwise provided, and the displayed reference information is compared with the selected component to determine if the selected component is of the correct type and value. Preferably, the selecting is accomplished by moving a probe tip of the probe apparatus within a predetermined distance of the selected component and activating a control, such as a button. The user can initiate a verify signal or a failure signal depending on whether the selected component matches the reference information.

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. A scaled cursor position in the display frame is reported to the host computer derived from a reference position of the mouse in the local frame, and the host displays the cursor. For example, the cursor position may be scaled by a ballistics algorithm based on mouse velocity to allow fine positioning or coarse motion of the cursor. A force is output on the mouse based on interactions in the GUI, the force being determined based on mouse reference data or cursor ballistic data, depending on the type of force, to reduce distortion between visual and force outputs.

Abstract: A method and apparatus for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism provides two revolute degrees of freedom to an object about two axes of rotation. A linear axis member is coupled to the gimbal mechanism at the intersection of the two axes of rotation. The linear axis member is capable of being translated along a third axis to provide a third degree of freedom. The user object is coupled to the linear axis member and is thus translatable along the third axis so that the object can be moved along all three degrees of freedom. Transducers associated with the provided degrees of freedom include sensors and actuators and provide an electromechanical interface between the object and a digital processing system. Capstan drive mechanisms transmit forces between the transducers and the object.

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 method and apparatus for providing force feedback to a user operating a human/computer interface device in conjunction with a graphical user interface (GUI) displayed by a host computer system. A physical object, such as a joystick or a mouse, controls a graphical object, such as a cursor, within the GUI. The GUI allows the user to interface with operating system functions implemented by the computer system. A signal is output from the host computer to the interface device to apply a force sensation to the physical object using one or more actuators. This desired force sensation is associated with at least one of the graphical objects and operating system functions of the graphical user interface and is determined by a location of the cursor in the GUI with respect to targets that are associated with the graphical objects. The graphical objects include icons, windows, pull-down menus and menu items, scroll bars (“sliders”), and buttons.

Abstract: A force feedback interface having isotonic and isometric control capability coupled to a host computer that displays a graphical environment such as a GUI. The interface includes a user manipulatable physical object movable in physical space, such as a mouse or puck. A sensor detects the object's movement and an actuator applies output force on the physical object. A mode selector selects isotonic and isometric control modes of the interface from an input device such as a physical button or from an interaction between graphical objects. Isotonic mode provides input to the host computer based on a position of the physical object and updates a position of a cursor, and force sensations can be applied to the physical object based on movement of the cursor. Isometric mode provides input to the host computer based on an input force applied by the user to the physical object, where the input force is determined from a sensed deviation of the physical object in space.

Abstract: Improvements in haptic feedback control devices include several embodiments. A haptic feedback control device includes a housing and a pair of moveable pincher members coupled to the housing. Each pincher member is contacted by a finger of the user when the device is operated and moveable in a degree of freedom approximately within a single plane. An actuator outputs force feedback on the pincher members in the degrees of freedom, and a sensor detects a position of the pincher members in the degrees of freedom. The device housing includes a fixed portion and a moveable portion, where the user grips both fixed and moveable portions. A coupling, such as a flexure, allows the moveable portion to move relative to the fixed portion in a direction parallel to an outer surface of the moveable portion contacted by the user. An actuator outputs a force on the flexure to cause the moveable portion to move, such as an oscillating force to cause vibration.

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 method and apparatus for providing force feedback to a user operating a human/computer interface device in conjunction with a graphical user interface (GUI) displayed by a host computer system. A physical object, such as a joystick or a mouse, controls a graphical object, such as a cursor, within the GUI. The GUI allows the user to interface with operating system functions implemented by the computer system. A signal is output from the host computer to the interface device to apply a force sensation to the physical object using one or more actuators. This desired force sensation is associated with at least one of the graphical objects and operating system functions of the graphical user interface and is determined by a location of the cursor in the GUI with respect to targets that are associated with the graphical objects. The graphical objects include icons, windows, pull-down menus and menu items, scroll bars (“sliders”), and buttons.

Abstract: An apparatus for interfacing an elongated flexible object with an electrical system. The apparatus includes an object receiving portion and a rotation transducer coupled to the object receiving portion adapted to determine the rotational motion of the elongated flexible object when the object is engaged with the object receiving portion and to provide an electromechanical interface between the object and the electrical system. In a preferred embodiment, the rotation transducer includes an actuator and translational transducer to provide a translational electromechanical interface between the object and the electrical system.

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.

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: Method and system for checking and verifying the positions of components on an object such as a circuit board using a probe apparatus. A component of the object, positioned at a particular location on the object, is selected by the user using the probe apparatus. Reference information about a correct component positioned at the location of the selected component is displayed or otherwise provided, and the displayed reference information is compared with the selected component to determine if the selected component is of the correct type and value. Preferably, the selecting is accomplished by moving a probe tip of the probe apparatus within a predetermined distance of the selected component and activating a control, such as a button. The user can initiate a verify signal or a failure signal depending on whether the selected component matches the reference information.

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: Haptic feedback control devices of the present invention include several embodiments. One embodiment includes a housing and a pair of moveable pincher members coupled to the housing. Each pincher member is contacted by a finger of the user when the device is operated and moveable in a degree of freedom approximately within a single plane. An actuator outputs force feedback on the pincher members and a sensor detects a position of the pincher members in the degrees of freedom. The device housing can include a fixed portion and a moveable portion, where the user contacts both fixed and moveable portions. A coupling, such as a flexure, allows the moveable portion to move relative to the fixed portion in a direction parallel to an outer surface of the moveable portion contacted by the user. An actuator outputs a force on the flexure to cause the moveable portion to move, such as an oscillating force to cause vibration.

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.