초록 ▼

A force feedback mouse interface device connected to a host computer and providing realistic force feedback to a user. The mouse interface device includes a mouse object and a linkage coupled to the mouse that includes a plurality of members rotatably coupled to each other in a planar closed-loop li

A force feedback mouse interface device connected to a host computer and providing realistic force feedback to a user. The mouse interface device includes a mouse object and a linkage coupled to the mouse that includes a plurality of members rotatably coupled to each other in a planar closed-loop linkage, two of the members coupled to ground and rotatable about the same axis. Two actuators, preferably electromagnetic voice coils, provide forces in the two degrees of freedom of the planar workspace of the mouse object. Each of the actuators includes a moveable coil portion integrated with one of the members of the linkage and a magnet portion coupled to the ground surface through which the coil portion moves. At least one sensor is coupled to the ground surface that detects movement of the linkage and provides a sensor signal including information from which a position of the mouse object in the planar workspace can be determined.

대표청구항 ▼

[ What is claimed is:] [1.] A mouse interface device for interfacing a user's motion with a host computer and providing force feedback to said user, said mouse interface device comprising:a mouse object contacted and manipulated by said user and moveable in a planar workspace with respect to a groun

[ What is claimed is:] [1.] A mouse interface device for interfacing a user's motion with a host computer and providing force feedback to said user, said mouse interface device comprising:a mouse object contacted and manipulated by said user and moveable in a planar workspace with respect to a ground surface;a planar linkage including five members rotatably coupled to each other, wherein said linkage is arranged such that a ground member is rigidly coupled to said ground surface, a first base member is rotatably coupled to said ground member to rotate about an axis of rotation, a first link member is rotatably coupled to said first base member, a second base member is rotatably coupled to said ground member at said axis of rotation such that said first base member and said second base member pivot about a single axis with respect to said ground member, and a second link member is rotatably coupled to said first link member and said second base member, wherein said mouse object is coupled to said planar linkage at said coupling of said first link member and said second link member;a plurality of electromagnetic actuators providing forces in said planar workspace of said mouse object, said forces caused by interactions between an electric current and a magnetic field, wherein each of said actuators includes a coil portion integrated with one of said members of said linkage and a magnet portion coupled to said ground surface through which said coil portion moves, and wherein said actuators are controlled from commands output by said host computer; anda plurality of sensors coupled to said ground surface and separate from said actuators, wherein said sensors provide at least one sensor signal including information describing said movement of said mouse object from which a position of said mouse object in said planar workspace is determined.