IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0974198
(2001-10-09)
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발명자
/ 주소 |
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출원인 / 주소 |
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대리인 / 주소 |
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인용정보 |
피인용 횟수 :
73 인용 특허 :
232 |
초록
▼
A method and apparatus for controlling and providing force feedback using an interface device manipulated by a user. A microprocessor is provided local to the interface device and reads sensor data from sensors that describes the position and/or other information about an object grasped and moved by
A method and apparatus for controlling and providing force feedback using an interface device manipulated by a user. A microprocessor is provided local to the interface device and reads sensor data from sensors that describes the position and/or other information about an object grasped and moved by the user, such as a joystick. The microprocessor provides the sensor data to a host computer that is coupled to the interface device by a communication bus that preferably includes a serial interface. In a "host-controlled" embodiment, the host computer calculates force values using the sensor data and other parameters of a host application program and sends the force values to the local microprocessor, which directly provides the force values to actuators to apply forces to the user object. In a "reflex" embodiment, the host computer sends high level supervisory commands to the local microprocessor, and the microprocessor independently implements a local process based on the high level command for reading sensor data and providing force values to the actuators using sensor data and other parameters.
대표청구항
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What is claimed is: 1. An apparatus, comprising: an object configured to be moved in at least one degree of freedom; a sensor configured to detect a position of said object in the at least one degree of freedom and configured to output a sensor signal, the sensor signal being associated with the p
What is claimed is: 1. An apparatus, comprising: an object configured to be moved in at least one degree of freedom; a sensor configured to detect a position of said object in the at least one degree of freedom and configured to output a sensor signal, the sensor signal being associated with the position of said object in the at least one degree of freedom; a microprocessor coupled to said sensor, said microprocessor configured to send input data to a host computer, the input data being associated with the sensor signal and being usable by a host application program, the microprocessor further configured to select a low-level-force signal associated with a high-level-force command received from the host computer, the low-level-force signal including a force magnitude value; and an actuator coupled to the microprocessor and configured to output haptic feedback based on the selected low-level-force signal. 2. The device of claim 1, wherein the force magnitude value of the low-level force signal is associated with a time interval. 3. The device of claim 1, wherein the force magnitude value of the low-level force signal is pre-calculated and stored on the host computer prior to being received by the microprocessor. 4. The device of claim 1, wherein the low-level-force signal is received by the microprocessor based on a signal associated with a collision event being simulated on the host computer. 5. A processor-readable medium storing code representing instructions to cause a first processor to: receive input data from a second processor coupled to an input device, the input data including position data; generate a force command based on the position data received from the second processor; and transmit the force command to the second processor, the force command being one selected from a high-level-force command and a low-level-force command, the high-level-force command operative to cause the second processor to select a subroutine from a plurality of predefined subroutines based on the high-level-force command and output a force signal associated with the subroutine, the low-level-force command operative to cause the second processor to output a force signal associated with the low-level-force command. 6. The processor-readable medium of claim 5, wherein the selected subroutine is operative to instruct the processor to select a low-level-force command. 7. The processor-readable medium of claim 6, wherein the low-level-force command causes the processor to output a force signal to an actuator, the low-level-force command being based on sensor data received from a sensor coupled to the processor. 8. The processor-readable medium of claim 5, wherein the code further represents instructions to cause a first processor to: receive and to selectively transmit via a Universal Serial Bus (USB) interface. 9. The processor-readable medium of claim 5, wherein the code further represents instructions to cause a first processor to: store a force profile as at least one force magnitude value. 10. The computer-readable medium of claim 9, wherein the code further represents instructions to cause a first processor to: select the stored force profile in response to the force command. 11. A method, comprising: receiving input data from a processor coupled to an input device, the input data including position data based on a position of the input device; generating a force command based on the position data received from the processor; and sending a force command to the processor, the force command including one of a high-level-force command and a low-level-force command, the high-level-force command operative to cause the processor to select a subroutine based on the high-level-force command and to output a force signal associated with the subroutine, the low-level-force command operative to cause the processor to output a force signal associated with the low-level-force command. 12. The method of claim 11, wherein the subroutine is operative to instruct the processor to select a low-level-force command. 13. The method of claim 12, wherein the low-level-force command causes the processor to output a force signal to an actuator, the low-level-force command being based on sensor data received from a sensor coupled to the processor. 14. The method of claim 11, wherein the receiving and the sending is performed over a Universal Serial Bus (USB) interface. 15. The method of claim 11, further comprising: storing a force profile as at least one force magnitude value. 16. The method of claim 15, further comprising: selecting the force profile based on the force command. 17. A method, comprising: detecting a position of an object, the object configured to move in at least one degree of freedom; outputting a sensor signal, the sensor signal being based on the position of the object in the at least one degree of freedom; sending input data based on the sensor signal, the input data being operative to interact with a host application program; receiving one of a high-level-force command and a low-level-force command including a force magnitude value; selecting a force signal associated with the received one of the high-level-force command and the low-level-force command; and generating a haptic feedback signal associated with the selected force signal. 18. A method, comprising: receiving input data from a processor coupled to an input device, the input data including position data based on a position of the input device; generating a force command based on the position data received from the processor; and sending force commands to the processor, the force commands including one of a first force command and a second force command, the first force command operative to cause the processor to select a force output and to output a pre-determined force signal associated with the selected force output, the force signal being associated with a force magnitude included in the force output, the second force command operative to cause the processor to output a force signal associated with a force magnitude included in the second force command. 19. An apparatus, comprising: an object configured to be moved in at least one degree of freedom; a sensor configured to detect a position of said object in the at least one degree of freedom and configured to output a sensor signal, the sensor signal being associated with the position of said object in the at least one degree of freedom; a microprocessor coupled to the sensor, said microprocessor configured to send input to a host computer, the input data being associated with the sensor signal and being usable by a host application program, the microprocessor further configured to select a low-level-force command associated with a high-level-force command received from the host computer, the microprocessor further configured to output a low-level-force signal associated with the low-level-force command, the low-level-force signal including a force magnitude value; and an actuator coupled to the microprocessor and configured to output haptic feedback based on the selected low-level-force signal.
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