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21. 发明授权

US07916121B2 Hybrid control of haptic feedback for host computer and interface device 有权
标题翻译：主机和接口设备的触觉反馈的混合控制
公开(公告)号：US07916121B2
公开(公告)日：2011-03-29
申请号：US12364644
申请日：2009-02-03
申请人： Adam C. Braun , Kenneth M. Martin , Louis B. Rosenberg
发明人： Adam C. Braun , Kenneth M. Martin , Louis B. Rosenberg
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/04766 , G06F3/011 , G06F2203/015 , G09B9/28
摘要： 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.
摘要翻译：一种混合触觉反馈系统，其中主计算机和触觉反馈装置在触觉感觉的输出中共享处理各种程度的加载，以及用于在这种系统中有效输出触觉感觉的特征。与主计算机通信的触觉反馈接口装置包括向致动器输出力值以控制输出力的装置微控制器。在各种实施例中，微控制器可以在接收由主计算机为不同类型的力效应计算的力值时确定一种类型的力效应的力值。例如，微控制器可以确定闭环效应值并从主机接收计算的开环效应值; 或者微控制器可以确定高频开环效应值并从主机接收低频开环效应值。各种功能允许主机有效地将计算的力值流传输到设备。

22. 发明授权

US07696978B2 Enhanced cursor control using interface devices 失效
标题翻译：使用接口设备增强光标控制
公开(公告)号：US07696978B2
公开(公告)日：2010-04-13
申请号：US10951350
申请日：2004-09-28
申请人： Jeffrey R. Mallett , Dean C. Chang , Louis B. Rosenberg , Adam C. Braun , Kenneth M. Martin , Jonathan L. Beamer
发明人： Jeffrey R. Mallett , Dean C. Chang , Louis B. Rosenberg , Adam C. Braun , Kenneth M. Martin , Jonathan L. Beamer
IPC分类号： G09G5/00 , G06F3/01
CPC分类号： G06F3/016 , G06F3/0354 , G06F3/03548 , G06F3/038 , G06F3/0421 , G06F2203/014 , G06F2203/015
摘要： An interface device and method for providing enhanced cursor control with force feedback. A force feedback interface device includes a manipulandum, such as a mouse, that is moveable in a local workspace. The device is coupled to a host computer that displays a cursor in a graphical environment, such as a GUI, on a display screen. An interior region and a border region in the local workspace is defined. One mapping of device movement to cursor movement is used for the interior region, and a different mapping is used for the border region. Mapping methods include ballistics, absolute, linear, rate control, and variable absolute. Rate control embodiments can be single axis or dual axis. In one embodiment, when the mouse moves from the interior region to the border region, the mapping providing the greater cursor velocity is used to better conserve device workspace in the direction of travel and to decrease any sense of mapping mode change to the user. Other features include an autocentering function for reducing offset between local and host frames.
摘要翻译：一种用于通过力反馈提供增强的光标控制的接口设备和方法。力反馈接口设备包括可在本地工作空间中移动的操纵，例如鼠标。该设备耦合到在显示屏幕上的诸如GUI的图形环境中显示光标的主计算机。定义本地工作空间中的内部区域和边界区域。对于内部区域使用设备移动到光标移动的一个映射，并且边界区域使用不同的映射。映射方法包括弹道学，绝对线性，速率控制和可变绝对。速率控制实施例可以是单轴或双轴。在一个实施例中，当鼠标从内部区域移动到边界区域时，提供较大光标速度的映射用于在行进方向上更好地节省设备工作空间并且减少对用户的任何映射模式改变的感觉。其他功能包括用于减少本地和主机帧之间的偏移的自动对中功能。

23. 发明授权

US07327348B2 Haptic feedback effects for control knobs and other interface devices 有权
标题翻译：用于控制旋钮和其他接口设备的触觉反馈效果
公开(公告)号：US07327348B2
公开(公告)日：2008-02-05
申请号：US10641243
申请日：2003-08-14
申请人： Alex S. Goldenberg , Steven P. Vassallo , Kenneth M. Martin , Adam C. Braun
发明人： Alex S. Goldenberg , Steven P. Vassallo , Kenneth M. Martin , Adam C. Braun
IPC分类号： G00G5/00
CPC分类号： G06F3/016 , A63F2300/1037 , B60K37/06 , B60K2350/102 , G05G1/02 , G05G1/08 , G05G9/047 , G05G2009/0477 , G06F3/0219 , G06F3/0354 , G06F3/0362 , G06F3/0395 , G06F3/0482 , G06F3/0485 , G06F2203/013 , G06F2203/014 , H01H25/008 , H01H25/06 , H01H2003/008 , Y10T74/20012
摘要： The present invention provides haptic sensations for a haptic feedback device and especially for a rotational device such as a knob. Force effects such as a hill force effect and barrier force effect allow easier selection of menu items, menus, values, or other options by the user. Force models are also described to allow greater selection functionality, such as a scrolling list with detents and rate control borders, a jog shuttle, a push-turn model, a double-push model, and a cast control model.
摘要翻译：本发明提供了触觉反馈装置的触觉感觉，特别是用于诸如旋钮的旋转装置。诸如山力效应和障碍力效应的力效应允许用户更容易地选择菜单项，菜单，值或其他选项。还描述了强制模型以允许更多的选择功能，例如具有制动和速率控制边界的滚动列表，旋转梭，推挽模型，双推模型和铸造控制模型。

24. 发明授权

US08279172B2 Hybrid control of haptic feedback for host computer and interface device 有权
标题翻译：主机和接口设备的触觉反馈的混合控制
公开(公告)号：US08279172B2
公开(公告)日：2012-10-02
申请号：US13070134
申请日：2011-03-23
申请人： Adam C. Braun , Kenneth M. Martin , Louis B. Rosenberg
发明人： Adam C. Braun , Kenneth M. Martin , Louis B. Rosenberg
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/04766 , G06F3/011 , G06F2203/015 , G09B9/28
摘要： 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.
摘要翻译：一种混合触觉反馈系统，其中主计算机和触觉反馈装置在触觉感觉的输出中共享处理各种程度的加载，以及用于在这种系统中有效输出触觉感觉的特征。与主计算机通信的触觉反馈接口装置包括向致动器输出力值以控制输出力的装置微控制器。在各种实施例中，微控制器可以在接收由主计算机为不同类型的力效应计算的力值时确定一种类型的力效应的力值。例如，微控制器可以确定闭环效应值并从主机接收计算的开环效应值; 或者微控制器可以确定高频开环效应值并从主机接收低频开环效应值。各种功能允许主机有效地将计算的力值流传输到设备。

25. 发明申请

US20110241852A1 Hybrid Control Of Haptic Feedback For Host Computer And Interface Device 有权
标题翻译：用于主计算机和接口设备的触觉反馈的混合控制
公开(公告)号：US20110241852A1
公开(公告)日：2011-10-06
申请号：US13070134
申请日：2011-03-23
申请人： Adam C. Braun , Kenneth M. Martin , Louis B. Rosenberg
发明人： Adam C. Braun , Kenneth M. Martin , Louis B. Rosenberg
IPC分类号： G08B6/00
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/04766 , G06F3/011 , G06F2203/015 , G09B9/28
摘要： 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.
摘要翻译：一种混合触觉反馈系统，其中主计算机和触觉反馈装置在触觉感觉的输出中共享处理各种程度的加载，以及用于在这种系统中有效输出触觉感觉的特征。与主计算机通信的触觉反馈接口装置包括向致动器输出力值以控制输出力的装置微控制器。在各种实施例中，微控制器可以在接收由主计算机为不同类型的力效应计算的力值时确定一种类型的力效应的力值。例如，微控制器可以确定闭环效应值并从主机接收计算的开环效应值; 或者微控制器可以确定高频开环效应值并从主机接收低频开环效应值。各种功能允许主机有效地将计算的力值流传输到设备。

26. 发明授权

US07986303B2 Textures and other spatial sensations for a relative haptic interface device 有权
标题翻译：纹理和其他空间感觉相对触觉界面设备
公开(公告)号：US07986303B2
公开(公告)日：2011-07-26
申请号：US11861098
申请日：2007-09-25
申请人： Adam C. Braun , Louis B. Rosenberg , Kenneth M. Martin
发明人： Adam C. Braun , Louis B. Rosenberg , Kenneth M. Martin
IPC分类号： G06F3/033 , G09G5/08
CPC分类号： G06F3/016 , A63F13/06 , A63F13/213 , A63F13/24 , A63F13/285 , A63F2300/1037 , A63F2300/1062 , A63F2300/8017 , G06F3/011 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/03547 , G06F3/03548 , G06F3/0362 , G06F2203/013 , G06F2203/014 , G06F2203/015 , G06F2203/0333 , H04L67/36 , H04L69/329
摘要： Methods and systems for textures and other spatial sensations for a relative haptic interface device are described. One embodiment includes a method comprising the steps of receiving a signal from a sensor, the sensor signal associated with a change in a position of a haptic feedback device, transmitting sensor data to a host processor, the sensor data associated with the sensor signal, receiving force information from the host processor, the force information comprising a texture sensation having at least one parameter describing at least one force to be output based at least in part on an interaction of a graphical object with a texture field, the force information further comprising at least one characteristic of the texture sensation, parsing the force information, storing the at least one characteristic, and determining when to output the at least one force based at least in part on the interaction.
摘要翻译：描述了用于相对触觉接口设备的纹理和其他空间感觉的方法和系统。一个实施例包括一种方法，包括以下步骤：从传感器接收信号，传感器信号与触觉反馈装置的位置变化相关联，将传感器数据传送到主机处理器，与传感器信号相关联的传感器数据，接收所述力信息包括至少部分地基于图形对象与纹理字段的交互作用而具有至少一个描述要输出的力的参数的纹理感觉的力信息，所述力信息还包括：纹理感觉的至少一个特征，解析力信息，存储至少一个特征，以及至少部分地基于交互来确定何时输出至少一个力。

27. 发明授权

US07502011B2 Hybrid control of haptic feedback for host computer and interface device 有权
公开(公告)号：US07502011B2
公开(公告)日：2009-03-10
申请号：US10184041
申请日：2002-06-25
申请人： Adam C. Braun , Kenneth M. Martin , Louis B. Rosenberg
发明人： Adam C. Braun , Kenneth M. Martin , Louis B. Rosenberg
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/04766 , G06F3/011 , G06F2203/015 , G09B9/28
摘要： 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.

28. 发明授权

US06704002B1 Position sensing methods for interface devices 有权
标题翻译：接口设备的位置检测方法
公开(公告)号：US06704002B1
公开(公告)日：2004-03-09
申请号：US09571397
申请日：2000-05-15
申请人： Kenneth M. Martin , Adam C. Braun , Ryan D. Bruneau
发明人： Kenneth M. Martin , Adam C. Braun , Ryan D. Bruneau
IPC分类号： G09G508
CPC分类号： A63F13/22 , A63F13/06 , A63F13/21 , A63F13/285 , A63F2300/1037 , A63F2300/1043
摘要： Improvements in accurately sensing a user manipulandum of a force feedback device. A force feedback device, coupled to a host computer, includes an actuator for outputting forces on a manipulandum and a sensor for detecting a position of the manipulandum. In one feature, a raw sensor value representing manipulandum position is adjusted based on compliance between sensor and manipulandum, where the adjustment can be based on a compliance constant and an output force. In another feature, a range of motion of the manipulandum is dynamically calibrated from startup. One boundary value of an assigned initial range is set equal to a received sensor value if the sensor value is outside the initial range, and the other boundary value is adjusted to maintain the size of the initial range unless the other boundary value has already been sensed outside the initial range. In another feature, manipulandum position is accurately sensed by filtering raw sensor values for overshoot values occurring at limits to manipulandum motion and using the filtered value in the dynamic calibration. In another feature, sensing inaccuracies caused by compliance in the device are decreased by normalizing a raw sensor value to a normalized range of motion that includes a saturation zone at each end of the range that adjusts sensor values over a saturation level to the saturation level.
摘要翻译：精确感测用户操纵力反馈装置的改进。耦合到主计算机的力反馈装置包括用于在操纵上输出力的致动器和用于检测操纵的位置的传感器。在一个特征中，基于传感器和操纵之间的顺应度来调整表示操纵位置的原始传感器值，其中调整可以基于顺从性常数和输出力。在另一个特征中，操作的运动范围从启动动态校准。如果传感器值在初始范围之外，则分配的初始范围的一个边界值被设置为等于接收到的传感器值，并且另一边界值被调整以维持初始范围的大小，除非已经感测到另一个边界值在初始范围之外。在另一个特征中，通过过滤原始传感器值以便在操纵力运动的限制下发生的过冲值并且使用动态校准中的滤波值来精确地感测到操纵性位置。在另一个特征中，通过将原始传感器值归一化为归一化的运动范围来降低感测由装置中的顺应性引起的不准确度，该归一化运动范围包括在将饱和电平上的传感器值调整到饱和度的范围的每个端点处的饱和区域。

29. 发明授权

US06448977B1 Textures and other spatial sensations for a relative haptic interface device 有权
标题翻译：纹理和其他空间感觉相对触觉界面设备
公开(公告)号：US06448977B1
公开(公告)日：2002-09-10
申请号：US09504201
申请日：2000-02-15
申请人： Adam C. Braun , Louis B. Rosenberg , Kenneth M. Martin
发明人： Adam C. Braun , Louis B. Rosenberg , Kenneth M. Martin
IPC分类号： G09G500
CPC分类号： G06F3/016 , A63F13/06 , A63F13/213 , A63F13/24 , A63F13/285 , A63F2300/1037 , A63F2300/1062 , A63F2300/8017 , G06F3/011 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/03547 , G06F3/03548 , G06F3/0362 , G06F2203/013 , G06F2203/014 , G06F2203/015 , G06F2203/0333 , H04L67/36 , H04L69/329
摘要： A low-cost haptic feedback device that provides spatially-based sensations such as textures in correlation with a displayed graphical environment. The device includes a housing, a sensor device, and an actuator for applying a force to the user. A local processor reports relative sensor data to the host processor and receives force information from the host processor. The host force information causes a texture sensation to be output by the actuator, the texture sensation providing forces to the user at least approximately spatially correlated with predefined locations in the graphical environment as determined by a local processor. In some embodiments, the local processor can model a position of the cursor while the cursor interacts with the texture field, where the modeled position is used for determining the force output to the user, and the force information from the host can include a gating command to activate or deactivate the texture sensation when the cursor enters or exits the texture field.
摘要翻译：一种低成本的触觉反馈装置，其提供基于空间的感觉，例如与显示的图形环境相关的纹理。该装置包括壳体，传感器装置和用于向使用者施加力的致动器。本地处理器向主处理器报告相对传感器数据，并从主处理器接收强制信息。宿主力信息导致由致动器输出纹理感觉，纹理感觉向用户提供至少大致空间上与由本地处理器确定的图形环境中的预定义位置相关联的力。在一些实施例中，当光标与纹理字段相互作用时，本地处理器可以对光标的位置建模，其中建模位置用于确定向用户输出的力，并且来自主机的力信息可以包括门控命令当光标进入或退出纹理字段时激活或停用纹理感觉。

30. 发明授权

US09134795B2 Directional tactile feedback for haptic feedback interface devices 有权
公开(公告)号：US09134795B2
公开(公告)日：2015-09-15
申请号：US10944628
申请日：2004-09-17
申请人： Adam C. Braun , Louis B. Rosenberg , David F. Moore , Kenneth M. Martin , Alex S. Goldenberg
发明人： Adam C. Braun , Louis B. Rosenberg , David F. Moore , Kenneth M. Martin , Alex S. Goldenberg
IPC分类号： G09G5/00 , G06F3/01
CPC分类号： G06F3/016 , G06F2203/013
摘要： Directional haptic feedback provided in a haptic feedback interface device. An interface device includes at least two actuator assemblies, which each include a moving inertial mass. A single control signal provided to the actuator assemblies at different magnitudes provides directional inertial sensations felt by the user. A greater magnitude waveform can be applied to one actuator to provide a sensation having a direction approximately corresponding to a position of that actuator in the housing. In another embodiment, the actuator assemblies each include a rotary inertial mass and the control signals have different duty cycles to provide directional sensations. For power-consumption efficiency, the control signals can be interlaced or pulsed at a different frequency and duty cycle to reduce average power requirements.

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