초록 ▼

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

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. In a "reflex" embodiment, the host computer sends high level supervisory commands to the local microprocessor, and the microprocessor independently implements a local process based on the high level command for reading sensor data and providing force values to the actuators using sensor data and other parameters.

대표청구항 ▼

[ What is claimed is:] [1.] An interface device for use with a host computer displaying a graphical simulation on a display device, said host computer displaying, executing, and updating a graphical simulation in response to user manipulation of said interface device and commanding force feedback se

[ What is claimed is:] [1.] An interface device for use with a host computer displaying a graphical simulation on a display device, said host computer displaying, executing, and updating a graphical simulation in response to user manipulation of said interface device and commanding force feedback sensations in response to said user manipulation and in coordination with events within said graphical simulation, the interface device comprising:a user manipulable object coupled to a support system and grasped by a user;a force generator coupled to said user object for receiving a force control signal and providing a resistance force to motion along at least one degree of freedom of said user object and in accordance with said force control signal;a sensor that detects motion of said user manipulable object along said degree of freedom and outputs a locative signal including information representative of the position of said user object;a user-adjustable switch apparatus providing a state signal representing a state of said switch apparatus; anda microprocessor local to said interface apparatus, separate from said host computer system, coupled to said host computer system, to said sensor, and to said switch apparatus, said microprocessor receivinghost commands from said host computer system,said state signal from said switch apparatus, andsaid locative signal from said sensor,said microprocessor executing a local process in parallel with said host execution of said graphical simulation and providing said force control signal to said force generator, said local process involving an execution of at least one local routine stored in a local memory coupled to said microprocessor, wherein said microprocessorenables communication between said microprocessor and said host computer system,decodes said host commands sent by said host computer system to said microprocessor,controls said force generator in response to a decoded command received from said host computer system, wherein the control of the force generator is coordinated with an event occurring in said parallel host computer system execution of said graphical simulation, thereby locally creating a meaningful feel sensation that corresponds with a relevant displayed event within said graphical simulation,reports a representation of said locative signal to said host computer system, wherein said host computer system updates said parallel execution of said graphical simulation in response to said representation of said locative signal, andreports a representation of said state signal to said host computer system, wherein said host computer system updates said parallel execution of graphical simulation in response to said state of said switch apparatus.