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| 국가/구분 | United States(US) Patent 등록 |
|---|---|
| 국제특허분류(IPC7판) |
|
| 출원번호 | US-0566282 (1995-12-01) |
| 발명자 / 주소 |
|
| 출원인 / 주소 |
|
| 대리인 / 주소 |
|
| 인용정보 | 피인용 횟수 : 548 인용 특허 : 0 |
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 use
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.
[ What is claimed is:] [1.] An interface device for use with a host computer displaying a graphical environment, said host computer updating said graphical environment in response to user manipulation of said interface device and commanding force feedback sensations utilizing said interface device i
[ What is claimed is:] [1.] An interface device for use with a host computer displaying a graphical environment, said host computer updating said graphical environment in response to user manipulation of said interface device and commanding force feedback sensations utilizing said interface device in response to said manipulation and in coordination with events within said graphical environment, said interface device comprising:a user manipulatable object grasped by a user;a support mechanism which supports said user manipulatable object with respect to an origin while allowing a plurality of degrees of freedom in the motion of said user manipulatable object with respect to said origin;an actuator coupled to said user manipulatable object for providing a force resistance to motion of said user manipulatable object along at least one of said degrees of freedom with respect to said origin, said resistance to motion generated in response to commands from said host computer and in coordination with said graphical environment;a sensor outputting a locative signal responsive to and corresponding with manipulation of said user manipulable object along at least said degree of freedom in which said resistance is provided;a user adjustable switch apparatus outputting a state signal representing the state of said switch apparatus;a local microprocessor separate from said host computer, coupled to said host computer by a communication interface and coupled to said actuator, said sensor, and to said user adjustable switch, said local microprocessor executing a local process in parallel with host execution of said graphical environment, said local process involving the execution of a plurality of local routines, wherein said local process executed by said local microprocessor is stored in local memory coupled to said local microprocessor, wherein said local processenables communication between said interface device and said host computer,decodes commands sent by said host computer to said interface device over said communication interface,controls said actuator in response to at least one decoded command received from said host computer, wherein said control of said actuator is coordinated with an event occurring in said parallel host computer execution of said graphical environment, thereby locally creating a feel sensation that corresponds with a relevant displayed event within said graphical environment,reports a representation of said locative signal to said host computer, wherein said host computer updates said parallel execution of said graphical environment in response to said representation of said locative signal, andreports a representation of said state signal to said host computer, wherein said host computer updates said parallel execution of said graphical environment in response to said switch state,and wherein a plurality of host commands are received by said local microprocessor over said communication interface; anda plurality of command routines stored in memory local to said microprocessor, wherein particular ones of said command routines are executed in response to particular ones of said received host commands, wherein at least one of said host commands causes execution of a command routine for reporting data from said local microprocessor to said host computer, at least one of said host commands causes the execution of a force routine, said force routine being a command routine that causes said force generator to produce a resistance to motion of said user object along at least one of said degrees of freedom.
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