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11. 发明申请

US20090033624A1 SAFE AND LOW COST COMPUTER PERIPHERALS WITH FORCE FEEDBACK FOR CONSUMER APPLICATIONS 审中-公开
标题翻译：安全和低成本计算机外围设备，具有用于消费应用的强制反馈
公开(公告)号：US20090033624A1
公开(公告)日：2009-02-05
申请号：US12251363
申请日：2008-10-14
申请人： Louis B. Rosenberg , Adam C. Braun , Bruce M. Schena
发明人： Louis B. Rosenberg , Adam C. Braun , Bruce M. Schena
IPC分类号： G06F3/033
CPC分类号： G06F3/016 , A63F13/06 , A63F13/23 , A63F13/285 , A63F2300/1025 , A63F2300/1031 , A63F2300/1037 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F1/266 , G06F3/011 , G06F3/0383 , G06F2203/014 , G06F2203/015 , H01H2003/008 , H04L67/38
摘要： Power management for an interface device that is manipulated by a user and in communication with a host computer and provides forces to the user. The device includes a sensor and an actuator. One embodiment provides first power from the host computer over a serial interface and second power from a power adapter. Another embodiment provides first power from the host computer and second power from a power storage device on the interface device that supplies power to the actuator. Another embodiment provides a power adapter supplying a portion of the first power to the sensor and a portion to the actuator, and a power storage device on the interface device provides second power to the actuator.
摘要翻译：用于由用户操纵并与主机通信并向用户提供力量的接口设备的电源管理。该装置包括传感器和致动器。一个实施例通过串行接口提供来自主机的第一功率和来自电源适配器的第二功率。另一个实施例提供来自主计算机的第一功率和来自向致动器供电的接口设备上的蓄电装置的第二功率。另一个实施例提供了将一部分第一功率提供给传感器的电源适配器和致动器的一部分，并且接口装置上的蓄电装置向致动器提供第二功率。

12. 发明授权

US07236157B2 Method for providing high bandwidth force feedback with improved actuator feel 有权
标题翻译：提供高带宽力反馈的改进的致动器感觉的方法
公开(公告)号：US07236157B2
公开(公告)日：2007-06-26
申请号：US10322438
申请日：2002-12-19
申请人： Bruce M. Schena , Louis B. Rosenberg
发明人： Bruce M. Schena , Louis B. Rosenberg
IPC分类号： G09G5/08
CPC分类号： G06F3/016 , A63F13/06 , A63F13/23 , A63F13/24 , A63F13/285 , A63F2300/1025 , A63F2300/1037 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F3/011 , G06F3/0383 , G06F2203/015
摘要： A method and apparatus for providing low-cost, realistic force feedback including an improved actuator. The invention provides force sensations to a user and includes an interface device coupled to a host computer and allowing a user to interact with a host application program. A user object, such as a joystick, is moveable by a user in at least one rotary degree of freedom. A sensor reports a locative signal to the host computer to indicate a position of the user object. An actuator outputs forces on the user object in response to signals from the host computer and program. The actuator includes a housing, a set of grounded magnets provided on opposing surfaces of the housing and creating a magnetic field, and a rotor coupled to the user object positioned between the magnets. The rotor rotates about an axis of rotation and includes a shaft and teeth spaced around the shaft. An electric current flows through one or more coils on the teeth to cause the rotor to rotate. The teeth and the magnets are provided in a skewed, helical arrangement relative to each other so that, as the rotor rotates, a first tooth gradually exits the magnetic field as the next consecutive tooth gradually enters the magnetic field, thereby significantly reducing a cogging effect of the rotor when the user object is moved by the user and increasing the fidelity of forces experienced by the user.
摘要翻译：一种用于提供包括改进的致动器的低成本，逼真的力反馈的方法和装置。本发明提供对用户的力感觉，并且包括耦合到主计算机并允许用户与主机应用程序交互的接口设备。用户对象（诸如操纵杆）可由用户以至少一个旋转自由度移动。传感器向主计算机报告定位信号以指示用户对象的位置。执行器响应于来自主计算机和程序的信号，在用户对象上输出力。致动器包括壳体，设置在壳体的相对表面上并产生磁场的一组接地磁体，以及耦合到位于磁体之间的用户对象的转子。转子围绕旋转轴线旋转并且包括轴和围绕轴间隔开的齿。电流流过齿上的一个或多个线圈，使转子转动。齿和磁体相对于彼此以倾斜的螺旋布置设置，使得当转子旋转时，随着下一个连续的齿逐渐进入磁场，第一齿逐渐离开磁场，从而显着减少齿槽效应当用户物体被使用者移动并增加使用者经历的力的保真度时，转子的转动。

13. 发明授权

US07233313B2 Control knob with multiple degrees of freedom and force feedback 有权
公开(公告)号：US07233313B2
公开(公告)日：2007-06-19
申请号：US10712199
申请日：2003-11-13
申请人： Michael D. Levin , Kenneth M. Martin , Bruce M. Schena , Adam C. Braun , Louis B. Rosenberg
发明人： Michael D. Levin , Kenneth M. Martin , Bruce M. Schena , Adam C. Braun , Louis B. Rosenberg
IPC分类号： G09G5/00 , G09G5/08
CPC分类号： G06F3/016 , A63F2300/1037 , G05G9/047 , G05G2009/0477 , G06F3/0219 , G06F3/0354 , G06F3/0362 , G06F3/0395 , G06F3/0482 , G06F2203/013 , G06F2203/014 , H01H2003/008 , Y10S715/97 , Y10S715/974 , Y10T74/20201
摘要： The present invention provides a control knob on a device that allows a user to control functions of the device. In one embodiment, the knob is rotatable in a rotary degree of freedom and moveable in at least one transverse direction approximately perpendicular to the axis. An actuator is coupled to the knob to output a force in the rotary degree of freedom about the axis, thus providing force feedback. In a different embodiment, the knob is provided with force feedback in a rotary degree of freedom about an axis and is also moveable in a linear degree of freedom approximately parallel to the axis, allowing the knob to be pushed and/or pulled by the user. The device controlled by the knob can be a variety of types of devices, such as an audio device, video device, etc. The device can also include a display providing an image updated in response to manipulation of the knob. Detent forces can be provided for the knob by overlapping and adjusting ranges of closely-spaced detents in the rotary degree of freedom of the knob.

14. 发明授权

US07054775B2 Digitizing system and rotary table for determining 3-D geometry of an object 有权
标题翻译：用于确定物体的三维几何的数字化系统和旋转台
公开(公告)号：US07054775B2
公开(公告)日：2006-05-30
申请号：US10781801
申请日：2004-02-20
申请人： Louis B. Rosenberg , Bruce M. Schena , Bernard G. Jackson
发明人： Louis B. Rosenberg , Bruce M. Schena , Bernard G. Jackson
IPC分类号： G01B7/08
CPC分类号： G06F3/038 , B25J9/1692 , G01B5/008 , G01B21/04 , G05B19/4207 , G05B2219/37021 , G05B2219/37043 , G05B2219/39021 , G05B2219/39024 , G05B2219/39048 , G05B2219/45055 , G05B2219/45061 , G06F3/0346
摘要： A digitizing system and rotary table for determining the three dimensional geometry of an object is described. An apparatus includes at least one sensor that detects information describing the three-dimensional geometry of the object and provides the information to a host computer. A rotary table includes a base and a turntable rotatable about an axis positioned perpendicularly to the turntable surface. The turntable and object on its surface rotate about the axis, during or between the sensor detecting the information describing the three-dimensional geometry of the object. A turntable sensor coupled to the base measures the rotation of the turntable, where the turntable sensor outputs turntable data indicative of the rotation to the host computer.
摘要翻译：描述用于确定物体的三维几何形状的数字化系统和旋转台。一种装置包括至少一个传感器，其检测描述对象的三维几何形状的信息，并将信息提供给主计算机。旋转台包括基座和可围绕垂直于转台表面定位的轴线旋转的转盘。表面上的转盘和物体围绕轴旋转，在传感器期间或之间检测到描述物体的三维几何的信息。连接到基座的转盘传感器测量转盘的旋转，其中转盘传感器将指示旋转的转盘数据输出到主计算机。

15. 发明授权

US06822635B2 Haptic interface for laptop computers and other portable devices 有权
标题翻译：膝上型电脑和其他便携式设备的触觉界面
公开(公告)号：US06822635B2
公开(公告)日：2004-11-23
申请号：US09917263
申请日：2001-07-26
申请人： Erik J. Shahoian , Bruce M. Schena , Louis B. Rosenberg
发明人： Erik J. Shahoian , Bruce M. Schena , Louis B. Rosenberg
IPC分类号： G09G500
CPC分类号： G06F3/016 , G06F1/1616 , G06F1/1626 , G06F1/169 , G06F3/011 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/03547 , G06F3/0362 , H01H2003/008 , H01H2215/052
摘要： A haptic feedback touch control used to provide input to a computer. A touch input device includes a planar touch surface that provides position information to a computer based on a location of user contact. The computer can position a cursor in a displayed graphical environment based at least in part on the position information, or perform a different function. At least one actuator is also coupled to the touch input device and outputs a force to provide a haptic sensation to the user. The actuator can move the touchpad laterally, or a separate surface member can be actuated. A flat E-core actuator, piezoelectric actuator, or other types of actuators can be used to provide forces. The touch input device can include multiple different regions to control different computer functions.
摘要翻译：用于向计算机提供输入的触觉反馈触摸控制。触摸输入设备包括平面触摸表面，其基于用户接触的位置向计算机提供位置信息。计算机可以至少部分地基于位置信息将光标定位在所显示的图形环境中，或者执行不同的功能。至少一个致动器还耦合到触摸输入设备并且输出力以向用户提供触觉感觉。致动器可以横向移动触摸板，或者可以致动单独的表面构件。可以使用扁平的E型芯致动器，压电致动器或其他类型的致动器来提供力。触摸输入设备可以包括多个不同的区域来控制不同的计算机功能。

16. 发明授权

US06704001B1 Force feedback device including actuator with moving magnet 失效
公开(公告)号：US06704001B1
公开(公告)日：2004-03-09
申请号：US09431383
申请日：1999-11-01
申请人： Bruce M. Schena , Louis B. Rosenberg
发明人： Bruce M. Schena , Louis B. Rosenberg
IPC分类号： G09G508
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/04748 , G05G2009/04755 , G06F3/03548 , G06F2203/015 , G09B23/285
摘要： A force feedback interface device is coupled to a host computer that displays a graphical environment, the device including a user manipulatable object physically contacted and moveable by a user. A sensor detects a position of the user object and provides a sensor signal to the host computer, where the sensor signal includes information representative of the position of the user object. An actuator is coupled to the device or user object and outputs a force on the user manipulatable object or a housing of the device. The actuator includes a magnet and a grounded coil, where the magnet moves approximately within a plane with respect to the coil, and wherein a current is provided in the coil to generate the force. Other embodiments provide a magnet that moves in a linear degree of freedom within a coil housing, or provide an at least partially spherical magnet providing rotary degrees of freedom to a user manipulatable object coupled to the magnet. One embodiment includes a planar frame support mechanism.

17. 发明授权

US06686911B1 Control knob with control modes and force feedback 有权
标题翻译：控制旋钮带有控制模式和力反馈
公开(公告)号：US06686911B1
公开(公告)日：2004-02-03
申请号：US09680408
申请日：2000-10-02
申请人： Michael D. Levin , Kenneth M. Martin , Bruce M. Schena , Adam C. Braun , Louis B. Rosenberg
发明人： Michael D. Levin , Kenneth M. Martin , Bruce M. Schena , Adam C. Braun , Louis B. Rosenberg
IPC分类号： G09G500
CPC分类号： G06F3/016 , A63F2300/1037 , G05G9/047 , G05G2009/0477 , G06F3/0219 , G06F3/0354 , G06F3/0362 , G06F3/0395 , G06F3/0482 , G06F2203/013 , G06F2203/014 , H01H2003/008 , Y10S715/97 , Y10S715/974 , Y10T74/20201
摘要： The present invention provides a control knob on a device that allows a user to control functions of the device. In one embodiment, the knob is rotatable in a rotary degree of freedom and moveable in at least one transverse direction approximately perpendicular to the axis. An actuator is coupled to the knob to output a force in the rotary degree of freedom about the axis, thus providing force feedback. In a different embodiment, the knob is provided with force feedback in a rotary degree of freedom about an axis and is also moveable in a linear degree of freedom approximately parallel to the axis, allowing the knob to be pushed and/or pulled by the user. The device controlled by the knob can be a variety of types of devices, such as an audio device, video device, etc. The device can also include a display providing an image updated in response to manipulation of the knob. Detent forces can be provided for the knob by overlapping and adjusting ranges of closely-spaced detents in the rotary degree of freedom of the knob.
摘要翻译：本发明提供了一种设备上的控制旋钮，其允许用户控制设备的功能。在一个实施例中，旋钮可以旋转自由度旋转，并且在大致垂直于轴线的至少一个横向方向上可移动。致动器联接到旋钮以输出围绕轴线的旋转自由度的力，从而提供力反馈。在不同的实施例中，旋钮以关于轴线的旋转自由度提供力反馈，并且还可以在大致平行于轴线的线性自由度中移动，从而允许使用者推动和/或拉动旋钮。由旋钮控制的设备可以是各种类型的设备，诸如音频设备，视频设备等。设备还可以包括提供响应于旋钮的操纵而更新的图像的显示器。可以通过在旋钮的旋转自由度中重叠和调整紧密间隔的棘爪的范围来为旋钮提供限位力。

18. 发明授权

US06271833B1 Low cost force feedback peripheral with button activated feel sensations 失效
标题翻译：低成本力反馈外设与按钮激活感觉
公开(公告)号：US06271833B1
公开(公告)日：2001-08-07
申请号：US09035726
申请日：1998-03-05
申请人： Louis B. Rosenberg , Adam C. Braun , Bruce M. Schena
发明人： Louis B. Rosenberg , Adam C. Braun , Bruce M. Schena
IPC分类号： H02J700
CPC分类号： G06F3/016 , A63F13/06 , A63F13/23 , A63F13/285 , A63F2300/1025 , A63F2300/1031 , A63F2300/1037 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F1/266 , G06F3/011 , G06F3/0383 , G06F2203/014 , G06F2203/015 , H01H2003/008 , H04L67/38
摘要： A method and apparatus for providing safe and low-cost force feedback peripherals for consumer applications. A device microprocessor local to an interface device is coupled to the host by a first interface bus. The microprocessor receives host commands from the host computer on the first interface bus, such as an RS-232 interface, and commands an actuator to apply a force to a user object, such as a joystick, in response to host commands. A sensor detects positions of the user object and outputs signals to the host on a second interface bus, such as a PC game port bus, separate from the first bus. In a “recoil” embodiment, a user initiates force feedback by pressing a button on the joystick, which sends an activation signal to the actuator. In other recoil embodiments, the host computer can transmit one or more enable signals and/or activation signals to the actuator to enable or command forces. A safety switch of the present invention disables the actuator when the interface device is not in use and enables the actuator when an amount of weight over a predetermined amount is placed on the joystick created by a user grasping the joystick. A circuit of the present invention includes a capacitor for storing power provided by an input signal and supplied to the actuator when forces are to be output.
摘要翻译：一种用于为消费者应用提供安全且低成本的力反馈外设的方法和装置。接口设备本地的设备微处理器通过第一接口总线耦合到主机。微处理器从第一接口总线（例如RS-232接口）上的主计算机接收主机命令，并且响应于主机命令，命令致动器向用户对象（例如操纵杆）施加力。传感器检测用户对象的位置，并在与第一总线分开的第二接口总线（例如PC游戏端口总线）上向主机输出信号。在“反冲”实施例中，用户通过按下操纵杆上的按钮来发起力反馈，该按钮向致动器发送激活信号。在其他反冲实施例中，主计算机可以向致动器发送一个或多个使能信号和/或激活信号以启用或指示力。本发明的安全开关在接口装置不使用时使致动器不起作用，并且当将握有操纵杆的使用者产生的操纵杆上放置超过预定量的重量时，能够使致动器。本发明的电路包括用于存储由输入信号提供的电力的电容器，并且当输出力时提供给致动器。

19. 发明授权

US6125337A Probe apparatus and method for tracking the position and orientation of a stylus and controlling a cursor 有权
标题翻译：用于跟踪触控笔的位置和方位并控制光标的探针装置和方法
公开(公告)号：US6125337A
公开(公告)日：2000-09-26
申请号：US212075
申请日：1998-12-15
申请人： Louis B. Rosenberg , Bruce M. Schena , Bernard G. Jackson
发明人： Louis B. Rosenberg , Bruce M. Schena , Bernard G. Jackson
IPC分类号： B25J9/16 , G01B5/00 , G01B5/008 , G01B5/016 , G01B5/20 , G01B21/04 , G05B19/42 , G05D25/02 , G06F3/00 , G06F3/01 , G06F3/038 , G06T15/00 , G01B7/008
CPC分类号： B25J9/1692 , G01B21/04 , G01B21/042 , G01B5/008 , G05B19/4207 , G05D25/02 , G06F3/016 , G06F3/0346 , G06F3/038 , G06F3/0383 , A63F2300/1037 , G05B2219/37021 , G05B2219/37043 , G05B2219/39015 , G05B2219/39021 , G05B2219/39024 , G05B2219/39048 , G05B2219/45055 , G05B2219/45061 , G06F2203/015 , H01H2003/008
摘要： A method and apparatus for measuring three-dimensional (3-D) coordinates. A 3-D object can be digitized into a mesh representation manipulable by a computer system by tracing a stylus of a probe apparatus over surfaces of the object. The probe apparatus includes an arm having a series of linkages and joints. The arm can be assembled by placing the joints of the arm in joint fixtures a desired distance and angle apart and bonding the joints to a linkage. The probe apparatus is calibrated by placing the tip of the stylus at an arbitrary point in a work volume and varying the stylus' orientation to find error values and determine calibration parameters. The sensors of the probe apparatus are zeroed by placing the probe apparatus in the only possible home position and assigning assumed starting angles to the sensors. A rotary table can be used to support the object being digitized, where the rotation of the rotary table and object during digitization is sensed and included in coordinate calculations. A mesh representation of the object is developed by a computer system by incrementally creating and displaying triangles from data points of contour lines of the mesh. A selection template allows commands to be selected by the stylus by defining a template having selection areas within the probe's work volume and associating the selection areas with specific commands to the host computer.
摘要翻译：一种用于测量三维（3-D）坐标的方法和装置。 3-D物体可以被数字化为可由计算机系统操纵的网格表示，通过在对象的表面上追踪探针装置的触针。探针装置包括具有一系列连杆和接头的臂。手臂可以通过将臂的关节放置在关节固定装置中，将所需的距离和角度分开并将关节粘合到连杆上来组装。通过将探针的尖端放置在工作体积中的任意点并改变触针取向以找出误差值并确定校准参数来校准探针装置。探针装置的传感器通过将探针装置置于唯一可能的原始位置并将假设的起始角度分配给传感器来归零。旋转工作台可用于支撑被数字化的物体，其中感测数字化期间旋转台和物体的旋转并包括在坐标计算中。该对象的网格表示由计算机系统通过从网格的轮廓线的数据点递增地创建和显示三角形来开发。选择模板允许通过在探针的工作量中定义具有选择区域的模板并且将选择区域与特定命令相关联的方式通过触控笔来选择命令。

20. 发明授权

US5929607A Low cost force feedback interface with efficient power sourcing 失效
标题翻译：低成本的反馈接口，高效的电源
公开(公告)号：US5929607A
公开(公告)日：1999-07-27
申请号：US825726
申请日：1997-04-02
申请人： Louis B. Rosenberg , Adam C. Braun , Bruce M. Schena
发明人： Louis B. Rosenberg , Adam C. Braun , Bruce M. Schena
IPC分类号： A63F13/06 , G05G9/047 , G06F1/26 , G06F3/00 , G06F3/01 , G06F3/038 , H04L29/06 , H02J7/00
CPC分类号： G06F3/016 , A63F13/06 , A63F13/23 , A63F13/285 , G05G9/047 , G06F1/266 , G06F3/011 , G06F3/0383 , A63F2300/1025 , A63F2300/1031 , A63F2300/1037 , G05G2009/04766 , G05G2009/04777 , G06F2203/014 , G06F2203/015 , H01H2003/008 , H04L67/38
摘要： A method and apparatus for providing low cost force feedback using efficient power sourcing. A power storage device may be included in a force feedback interface device for storing power provided by an input signal. For example, the power storage device can be a capacitor. The interface device also includes an actuator for outputting forces on a user manipulatable object, such as a joystick, and the interface device is connected to a host computer. The stored power can be used, at least in part, to drive the actuator to output desired forces. A device microprocessor may also be included in the interface device to sense when the power storage device is sufficiently charged. In a different embodiment, power for the interface device is received from two sources; for example, a power supply is used for the actuators of the device and power from the host computer is used for other components of the interface device.
摘要翻译：一种使用高效电源提供低成本力反馈的方法和装置。功率存储装置可以包括在用于存储由输入信号提供的电力的力反馈接口装置中。例如，蓄电装置可以是电容器。接口装置还包括用于在诸如操纵杆的用户可操纵对象上输出力的致动器，并且接口装置连接到主计算机。存储的功率可以至少部分地用于驱动致动器以输出期望的力。设备微处理器也可以被包括在接口设备中以感测电力存储设备何时充分充电。在不同的实施例中，从两个源接收用于接口设备的功率; 例如，电源用于装置的致动器，并且来自主机的电力用于接口装置的其他部件。

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