초록 ▼

A method and apparatus for providing force sensations in virtual environments includes a human/computer interface device and method used in conjunction with a host computer and which can provide feel sensations to a user of the device. A user manipulatable object physically contacted by a user, such

A method and apparatus for providing force sensations in virtual environments includes a human/computer interface device and method used in conjunction with a host computer and which can provide feel sensations to a user of the device. A user manipulatable object physically contacted by a user, such as a joystick, stylus, pool cue, or other object, is movable in multiple degrees of freedom using a gimbal mechanism. A local microprocessor, separate from the host computer, enables communication with the host computer and receives commands from the host, decodes the commands, outputs actuator signals in accordance with commands, receives sensor signals, and reports data to the host in response to commands. Actuators generate feel sensations by providing a force on the user object in response to actuator signals from the local microprocessor, and sensors detect the motion of the user object and reports sensor signals to the local microprocessor. Memory is included locally to the local microprocessor for storing program instructions and routines enabling feel sensations and host-microprocessor communication. The feel sensation generated on the user is, in one embodiment, a damping sensation simulating a feel of motion through a fluid. In another embodiment, the feel sensation is a wall sensation simulating the feel of impacting a surface or obstruction.

대표청구항 ▼

[ What is claimed is:] [1.] An input/output device used in conjunction with a host computer for monitoring user manipulations and for enabling the simulation of feel sensations in response to said user manipulations, said feel sensations being generated in accordance with software running on said ho

[ What is claimed is:] [1.] An input/output device used in conjunction with a host computer for monitoring user manipulations and for enabling the simulation of feel sensations in response to said user manipulations, said feel sensations being generated in accordance with software running on said host computer that provides images on a computer display device, said input/output device comprising:a user manipulatable object physically contacted by a user and movable in at least two rotary degrees of freedom by said user;a gimbal mechanism coupled to said user object and providing said at least two rotary degrees of freedom to said user object with respect to a local ground;a local microprocessor separate from said host computer for enabling communication with said host computer, wherein said local microprocessor receives commands from said host computer, decodes said commands from said host computer, controls force generators in accordance with one or more of said commands, receives sensor signals, and reports data to said host computer in response to one or more of said commands, said local microprocessor functioning simultaneously with said software on said host computer;a communication interface coupled between said host computer and said local microprocessor for transmitting signals from said host computer to said local microprocessor and from said local microprocessor to said host computer;a plurality of force generators for generating feel sensations by providing a force on said user object in at least two degrees of freedom with respect to said local ground, said force generators applying forces to said user object in response to control signals from said local microprocessor;at least one sensor for detecting the motion of said user object in said degrees of freedom with respect to said local ground, said sensor reporting said sensor signals to said local microprocessor representative of motion of said user object; andmemory coupled to and local to said local microprocessor for storing program instructions, said program instructions including routines for enabling communication between said local microprocessor and said host computer, for decoding said host commands, for reporting data to said host computer, and for generating said feel sensations utilizing said force generators, wherein said feel sensations are generated in accordance with said software running on said host computer and in accordance with images displayed by said host computer on said computer display device.