[특허]Method and apparatus for providing high bandwidth force feedback with improved actuator feel

[미국특허] Method and apparatus for providing high bandwidth force feedback with improved actuator feel 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G06F-019/00
출원번호	US-0791020 (1997-01-27)
발명자 / 주소	Schena Bruce M. Rosenberg Louis B.
출원인 / 주소	Immersion Corporation
대리인 / 주소	Riegel
인용정보	피인용 횟수 : 2 인용 특허 : 80

초록 ▼

A method and apparatus for providing low-cost, realistic force feedback including an improved actuator. Force sensations are provided to a user and an interface device coupled to a host computer allows a user to interact with a host application program. A user object, such as a joystick, is moveable by a user in at least one rotary degree of freedom. A sensor reports a locative signal to the host computer to indicate a position of the user object. An actuator outputs forces on the user object in response to signals from the host computer and program. The actuator includes a housing, a set of grounded magnets provided on opposing surfaces of the housing and creating a magnetic field, and a rotor coupled to the user object positioned between the magnets. The rotor rotates about an axis of rotation and includes a shaft and teeth spaced around the shaft. An electric current flows through one or more coils on the teeth to cause the rotor to rotate. The teeth and the magnets are provided in a skewed, helical arrangement relative to each other so that, as the rotor rotates, a first tooth gradually exits the magnetic field as the next consecutive tooth gradually enters the magnetic field, thereby significantly reducing a cogging effect of the rotor when the user object is moved by the user and increasing the fidelity of forces experienced by the user.

대표청구항 ▼

[ What is claimed is:] [1.] A force feedback interface device for providing high-fidelity force sensations to a user of the device, said interface device being coupled to a host computer and allowing said user to interact with an application program implemented by said host computer, said force feedback interface device comprising:a user object graspable by said user and movable in at least one rotary degree of freedom;a sensor for reporting a locative signal to said host computer, said locative signal indicating a position of said user object within said rotary degree of freedom;an actuator coupled to said user object and to said host computer, said actuator outputting forces on said user object in response to signals from said host computer such that said forces are in response to said locative signal and are coordinated with events within said application program, said actuator having a reduced cogging effect such that said forces felt by said user are substantially free of force pulsations caused by said cogging effect when said user object is moved in said rotary degree of freedom, said actuator comprising:a housing;a set of magnets rigidly coupled to said housing, said magnets provided on opposing surfaces of an interior of said housing and creating a magnetic field;a rotor rotatably coupled to said housing and to said user object and positioned between said magnets, said rotor operative to rotate about an axis of rotation approximately parallel to faces of said magnets, said rotor including a shaft and a plurality of teeth spaced apart equally about a circumference of said shaft, wherein said teeth and said magnets are provided in a skewed, helical arrangement relative to each other such that as said rotor rotates about said axis, a portion of one of said teeth exits said magnetic field as a portion of a next consecutive tooth is entering said magnetic field; anda coil, wherein an electric current flows through said coil to cause said rotor to rotate about said axis of rotation; anda drive transmission coupled between said actuator and said user object, said drive transmission amplifying said forces output by said actuator on said user object.

이 특허에 인용된 특허 (80) 인용/피인용 타임라인 분석

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연합인증

[미국특허] Method and apparatus for providing high bandwidth force feedback with improved actuator feel 원문보기

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[미국특허] Method and apparatus for providing high bandwidth force feedback with improved actuator feel 원문보기

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