초록 ▼

A hybrid haptic feedback system in which a host computer and haptic feedback device share processing loads to various degrees in the output of haptic sensations, and features for efficient output of haptic sensations in such a system. A haptic feedback interface device in communication with a host c

A hybrid haptic feedback system in which a host computer and haptic feedback device share processing loads to various degrees in the output of haptic sensations, and features for efficient output of haptic sensations in such a system. A haptic feedback interface device in communication with a host computer includes a device microcontroller outputting force values to the actuator to control output forces. In various embodiments, the microcontroller can determine force values for one type of force effect while receiving force values computed by the host computer for a different type of force effect. For example, the microcontroller can determine closed loop effect values and receive computed open loop effect values from the host; or the microcontroller can determine high frequency open loop effect values and receive low frequency open loop effect values from the host. Various features allow the host to efficiently stream computed force values to the device.

대표청구항 ▼

1. A haptic feedback interface device in communication with a host computer, said host computer running and displaying a graphical environment, said haptic feedback interface device comprising:a user manipulatable object physically contacted by a user and moveable in at least one degree of freedom;

1. A haptic feedback interface device in communication with a host computer, said host computer running and displaying a graphical environment, said haptic feedback interface device comprising:a user manipulatable object physically contacted by a user and moveable in at least one degree of freedom; at least one actuator operative to output forces, said forces felt by said user; at least one sensor operative to detect motion of said user manipulatable object in said at least one degree of freedom and outputting a sensor signal indicative of said motion; and a device processor coupled to said at least one actuator and to said at least one sensor and local to said haptic feedback interface device, said processor operative to output force values to said at least one actuator to control said forces and receive said sensor signal from said at least one sensor, wherein said processor is operative to determine a closed loop force value based at least in part on said sensor signal and output said closed loop force value to said at least one actuator, and wherein said processor does not compute open loop force values but instead is operative to receive open loop force values from said host computer and direct said open loop force values to said at least one actuator, wherein said forces output by said at least one actuator are based on said closed loop force values and said open loop force values.