초록 ▼

A force feedback interface device and method for use with a host computer includes a user object, such as a joystick handle, physically contacted by a user. A support mechanism allows at least two degrees of freedom to the user object. Two actuators, preferably grounded, provide a force resistance t

A force feedback interface device and method for use with a host computer includes a user object, such as a joystick handle, physically contacted by a user. A support mechanism allows at least two degrees of freedom to the user object. Two actuators, preferably grounded, provide a force resistance to motion of the user object along the two degrees of freedom in response to commands from the host computer. A grounded sensor system includes an optical detector and a beam source, such as a photo diode sensor, where either the optical detector or the beam source is fixed with respect to the actuator, and the other moves with the user object. The sensor system is configured to detect motion of the user object with respect to a grounding surface in the two rotary degrees of freedom. A local microprocessor, separate from said host computer, can be included to control the actuators and read the sensor and execute a local process in parallel with host execution of a graphical environment.

대표청구항 ▼

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

[ What is claimed is:] [1.] An interface device for use with a host computer system displaying a graphical simulation on a screen and updating said graphical simulation in response to user manipulation of said interface device, said host computer commanding said interface device to generate force feedback sensations in coordination with events within said graphical simulation, said interface device comprising:a joystick handle grasped by a user;a support mechanism coupled to a grounding surface which supports said joystick handle while allowing two rotary degrees of freedom in the motion of said joystick handle with respect to said grounding surface;two actuators for providing resistance to motion of said joystick handle along said two degrees of freedom, said actuators being grounded such that a portion of each of said two actuators remains stationary with respect to said grounding surface, thereby allowing said joystick handle to be moved while a substantial portion of each of said actuators remains stationary with respect to said grounding surface, said resistance to motion generated by said actuators in response to commands from said host computer;a sensor system including an emitter and a detector, said detector including a photo diode and said emitter including an illumination source, said sensor system being grounded such that one of said emitter and said detector remains stationary with respect to said grounding surface and the other of said emitter and detector moves with respect to said grounding surface when said joystick handle is rotated about one of said degrees of freedom, resulting in motion of a beam from said illumination source with respect to said detector, and wherein said motion causes said sensor system to output signals that represent a position of said joystick handle along a degree of freedom; anda local microprocessor separate from said host computer system, said local microprocessor electrically coupled to said actuators and to said sensor system such that said local microprocessor controls said actuators and reads said signals from said sensor system, wherein said local microprocessor is coupled to said host computer via a communication interface, said local microprocessor executing a local process in parallel with said displaying and updating of said simulation by said host computer.