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11. 发明授权

US07038657B2 Power management for interface devices applying forces 失效
标题翻译：应用力的接口设备的电源管理
公开(公告)号：US07038657B2
公开(公告)日：2006-05-02
申请号：US10079379
申请日：2002-02-19
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： G09G5/00
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

US6154201A Control knob with multiple degrees of freedom and force feedback 有权
公开(公告)号：US6154201A
公开(公告)日：2000-11-28
申请号：US179382
申请日：1998-10-26
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： G01C21/36 , G05G9/047 , G06F3/00 , G06F3/01 , G06F3/023 , G06F3/039 , G09G5/00 , G05G11/00
CPC分类号： G06F3/016 , G01C21/3664 , G05G9/047 , G06F3/0219 , G06F3/0354 , G06F3/03543 , G06F3/03548 , G06F3/0362 , G06F3/0395 , G06F3/0482 , G06F3/0485 , A63F2300/1037 , G05G2009/0477 , G06F2203/013 , G06F2203/014 , H01H2003/008 , Y10S715/97 , Y10T74/20262
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.

13. 发明授权

US5907487A Force feedback device with safety feature 失效
标题翻译：强制反馈装置具有安全功能
公开(公告)号：US5907487A
公开(公告)日：1999-05-25
申请号：US825722
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 , G06F19/00
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 force feedback interface device including a safety feature. The interface device includes a sensor that senses the position of a user object along a degree of freedom and provides a sensor signal indicating the position of the user object to a host computer. An actuator of the device applies a force to the user object in the degree of freedom. A safety switch connected to the user object disables the actuator when the user is not using the interface device and enables the actuator when more than a predetermined amount of weight is placed on the user object.
摘要翻译：包括安全特征的力反馈界面装置。接口装置包括传感器，其感测沿着自由度的用户对象的位置，并且提供指示用户对象到主计算机的位置的传感器信号。该装置的致动器以自由度向使用者物体施加力。连接到用户对象的安全开关在用户不使用接口设备时禁用执行器，并且当超过预定量的重量被放置在用户对象上时使致动器能够启动。

14. 发明授权

US08188981B2 Haptic interface for touch screen embodiments 有权
标题翻译：用于触摸屏实施例的触觉界面
公开(公告)号：US08188981B2
公开(公告)日：2012-05-29
申请号：US11981220
申请日：2007-10-30
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： G09G5/00
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。

15. 发明授权

US08063892B2 Haptic interface for touch screen embodiments 有权
标题翻译：用于触摸屏实施例的触觉界面
公开(公告)号：US08063892B2
公开(公告)日：2011-11-22
申请号：US11981221
申请日：2007-10-30
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： G09G5/00
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

US07564444B2 System and method of applying force feedback to a manipulandum wheel utilized with a graphical user interface 有权
标题翻译：将力反馈施加到与图形用户界面一起使用的操纵轮的系统和方法
公开(公告)号：US07564444B2
公开(公告)日：2009-07-21
申请号：US11252505
申请日：2005-10-17
申请人： Louis B. Rosenberg , Bruce M. Schena
发明人： Louis B. Rosenberg , Bruce M. Schena
IPC分类号： G09G5/00 , G06F3/01
CPC分类号： G06F3/016 , G06F3/0354 , G06F2203/014
摘要： A force feedback wheel is provided on a mouse or other interface device manipulated by a user. A sensor detects a position of the mouse in a workspace and sends a position signal to a connected host computer indicating that position. A rotatable wheel is mounted upon the manipulandum and rotates about a wheel axis, where a wheel sensor provides a wheel signal to the host computer indicating a rotary position of the wheel. A wheel actuator coupled to the rotatable wheel applies a computer-modulated force to the wheel about the wheel axis. The mouse can be a standard mouse or a force-feedback mouse, where forces are applied in the mouse workspace. The host computer is preferably running a graphical environment, where the force applied to the wheel can correspond with an event or interaction displayed in the graphical environment. The wheel can also be included on other devices such as remote controls and radios.
摘要翻译：在由用户操纵的鼠标或其他接口设备上提供力反馈轮。传感器检测工作空间中鼠标的位置，并向所连接的主计算机发送指示该位置的位置信号。可旋转轮安装在操纵上并围绕车轮轴线旋转，其中车轮传感器向主机提供指示车轮旋转位置的车轮信号。联接到可旋转轮的轮致动器将轮子周围的计算机调制力施加到车轮。鼠标可以是标准鼠标或力反馈鼠标，其中在鼠标工作区中应用力。主机优选地运行图形环境，其中施加到车轮的力可对应于在图形环境中显示的事件或交互。车轮也可以包括在其他设备上，如遥控器和收音机。

17. 发明授权

US07253803B2 Force feedback interface device with sensor 有权
标题翻译：强制反馈接口设备与传感器
公开(公告)号：US07253803B2
公开(公告)日：2007-08-07
申请号：US09755383
申请日：2001-01-05
申请人： Bruce M. Schena , Louis B. Rosenberg
发明人： Bruce M. Schena , Louis B. Rosenberg
IPC分类号： G09G5/00 , G09G5/08
CPC分类号： G05G9/047 , A61B90/50 , A63F2300/1037 , B25J9/1692 , G01B5/008 , G01B7/004 , G01B21/04 , G05B19/4207 , G05G9/04737 , G05G2009/0474 , G05G2009/04766 , G05G2009/0477 , G06F3/016 , G06F3/0346 , G06F3/0354 , G06F3/03543 , G06F3/038 , G06F3/0383 , G06F2203/015 , G09B9/28 , G09B23/28 , G09B23/285 , H01H2003/008
摘要： 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 and including two 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. The grounded magnet portions of the actuators can be coupled together such that a common flux path between the magnet portions is shared by both magnets. 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.
摘要翻译：连接到主计算机的力反馈鼠标接口设备，并向用户提供逼真的力反馈。鼠标接口设备包括鼠标对象和耦合到鼠标的联动装置，其包括在平面闭环联动装置中彼此可旋转地联接的多个构件，并且包括耦合到地面并且可围绕同一轴线旋转的两个构件。两个致动器，优选地是电磁音圈，提供了鼠标物体的平面工作空间的两个自由度的力。每个致动器包括与联动件的一个构件一体化的可移动线圈部分和耦合到线圈部分通过其移动的地面的磁体部分。致动器的接地磁体部分可以耦合在一起，使得磁体部分之间的公共磁通路径被两个磁体共享。至少一个传感器耦合到地面，其检测联动装置的移动，并且提供包括信息的传感器信号，从而可以确定在平面工作空间中的鼠标对象的位置。

18. 发明授权

US06697048B2 Computer interface apparatus including linkage having flex 失效
公开(公告)号：US06697048B2
公开(公告)日：2004-02-24
申请号：US09748051
申请日：2000-12-22
申请人： Louis B. Rosenberg , Bruce M. Schena
发明人： Louis B. Rosenberg , Bruce M. Schena
IPC分类号： G09G508
CPC分类号： G06F3/016 , A61B90/50 , A63F2300/1037 , B25J9/1692 , G01B5/008 , G01B7/004 , G01B21/04 , G05B19/4207 , G05G9/047 , G05G9/04737 , G05G2009/0474 , G05G2009/04759 , G05G2009/04766 , G06F3/0346 , G06F3/038 , G06F3/0383 , G06F2203/015 , G09B9/28 , G09B23/28 , G09B23/285 , H01H2003/008
摘要： A method and apparatus for interfacing the motion of a user-manipulable object with an electrical or computer system includes a user object physically contacted by a user. A gimbal mechanism is coupled to the user object, such as a joystick or a medical tool, and provides at least two degrees of freedom to the user object. The gimbal mechanism preferably includes multiple members, at least two of which are formed as a unitary member which provides flex between the selected members. An actuator applies a force along a degree of freedom to the user object in response to electrical signals produced by the computer system. A sensor detects a position of the user object along the degree of freedom and outputs sensor signals to the computer system. Another embodiment includes a host computer system and a local microprocessor, separate from the host computer, for communicating with the host computer and controlling the forces output by the actuators according to a processor subroutine selected in accordance with a host command, sensor signals, and timing information. Another embodiment of the interface apparatus uses voice coil actuators that produce forces in either linear or rotary degrees of freedom using currents applied in a magnetic fields. A friction drive mechanism of the present invention can be coupled between an actuator and a gimbal mechanism. Force from the actuator is transmitted to the gimbal mechanism through frictional contact of members of the friction drive mechanism.

19. 发明授权

US06486872B2 Method and apparatus for providing passive fluid force feedback 失效
标题翻译：提供被动流体力反馈的方法和装置
公开(公告)号：US06486872B2
公开(公告)日：2002-11-26
申请号：US09028082
申请日：1998-02-23
申请人： Louis B. Rosenberg , Bruce M. Schena , Richard B. Gillespie
发明人： Louis B. Rosenberg , Bruce M. Schena , Richard B. Gillespie
IPC分类号： G09G508
CPC分类号： A63F13/285 , A61B90/50 , A63F13/06 , A63F13/24 , A63F13/42 , A63F2300/1037 , G05G9/047 , G05G9/04737 , G05G2009/0474 , G05G2009/04766 , G06F3/016 , G06F3/0338 , G06F3/03545 , G06F3/0383 , G06F2203/015 , G09B9/28 , G09B23/28 , Y10T74/20201
摘要： A method and apparatus for interfacing the motion of an object with a digital processing system includes a sensor for detecting movement of the object along a degree of freedom. A passive pneumatic or hydraulic damper is coupled to the object to provide a damping resistance to the object along the degree of freedom and resist a movement of the object. The damping resistance is provided by regulating the control of a fluid with a digital computing apparatus, thus providing a low-cost, low-power force-feedback interface that is safe for the user. The damper and sensor provide an electromechanical interface between the object and the electrical system. A gimbal or other interface mechanism can be coupled between the damper and the object. The interface is well suited for simulations or video games in which an object such as a joystick is moved and manipulated by the user.
摘要翻译：用于将物体的运动与数字处理系统接合的方法和装置包括用于沿着自由度检测物体的运动的传感器。无源气动或液压阻尼器联接到物体，以沿着自由度向物体提供阻尼阻力并抵抗物体的运动。通过用数字计算装置调节流体来提供阻尼阻力，从而提供对用户来说是安全的低成本，低功率的力 - 反馈接口。阻尼器和传感器在物体和电气系统之间提供机电接口。万向节或其他接口机构可以联接在阻尼器和物体之间。该界面非常适合模拟或视频游戏，其中诸如操纵杆的对象被用户移动和操纵。

20. 发明授权

US6050718A Method and apparatus for providing high bandwidth force feedback with improved actuator feel 失效
标题翻译：用于提供具有改进的致动器感觉的高带宽力反馈的方法和装置
公开(公告)号：US6050718A
公开(公告)日：2000-04-18
申请号：US791020
申请日：1997-01-27
申请人： Bruce M. Schena , Louis B. Rosenberg
发明人： Bruce M. Schena , Louis B. Rosenberg
IPC分类号： A63F13/06 , G05G9/047 , G06F3/00 , G06F3/01 , G06F3/038 , G06F19/00
CPC分类号： G06F3/016 , A63F13/06 , A63F13/285 , G05G9/047 , G06F3/011 , G06F3/0383 , A63F2300/1025 , A63F2300/1037 , G05G2009/04766 , G05G2009/04777 , G06F2203/015
摘要： A method and apparatus for providing low-cost, realistic force feedback including an improved actuator. Force sensations are provided to a user and an interface device coupled to a host computer allows 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。强制感觉被提供给用户，并且耦合到主计算机的接口设备允许用户与主机应用程序交互。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。

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