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61. 发明申请

US20120326977A1 Hybrid Control Of Haptic Feedback For Host Computer And Interface Device 审中-公开
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：US20120326977A1
公开(公告)日：2012-12-27
申请号：US13604736
申请日：2012-09-06
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。

62. 发明申请

US20100039373A1 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：US20100039373A1
公开(公告)日：2010-02-18
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。

63. 发明授权

US07283123B2 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：US07283123B2
公开(公告)日：2007-10-16
申请号：US10122089
申请日：2002-04-12
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： 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： 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进行建模，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。

64. 发明授权

US07209117B2 Method and apparatus for streaming force values to a force feedback device 有权
标题翻译：用于向力反馈装置输送力值的方法和装置
公开(公告)号：US07209117B2
公开(公告)日：2007-04-24
申请号：US10730067
申请日：2003-12-09
申请人： Louis B. Rosenberg , Adam C. Braun
发明人： Louis B. Rosenberg , Adam C. Braun
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , A63F13/06 , A63F13/23 , A63F13/285 , A63F2300/1025 , A63F2300/1037 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F3/011 , G06F3/0383 , G06F2203/014 , G06F2203/015 , H01H2003/008 , H04L67/38
摘要： A method and apparatus for shaping force signals for a force feedback device. A source wave is provided and is defined by a set of control parameters (including a steady state magnitude, a frequency value and a duration value) and modified by a set of impulse parameters (including an impulse magnitude, and a settle time representing a time required for the impulse magnitude to change to the steady-state magnitude). Optionally, application parameters specifying a direction of force signal and trigger parameters specifying activating buttons can also be provided for the source wave. Using a host processor or a local processor, the force signal is formed from the source wave and the sets of control parameters and impulse parameters, where the force signal includes an impulse signal followed by a continual steady-state signal after an expiration of the settle time. A feel sensation is generated to a user of the force feedback device as physical forces produced by actuators on the force feedback device in response to the force signal. The steady-state magnitude value is lower than a magnitude value of a non-impulse-shaped force signal required to create a corresponding feel sensation having a similar apparent sensation to the user.
摘要翻译：一种用于形成力反馈装置的力信号的方法和装置。提供源波，并由一组控制参数（包括稳态幅度，频率值和持续时间值）定义，并由一组脉冲参数（包括脉冲幅度和表示时间的稳定时间）脉冲幅度变为稳态幅度所需）。可选地，也可以为源波提供指定力信号方向的应用参数和指定启动按钮的触发参数。使用主处理器或本地处理器，力信号由源波形和控制参数和脉冲参数组形成，其中力信号包括脉冲信号，随后是稳定期满之后的连续稳态信号时间。对力反馈装置的使用者产生感觉，作为响应于力信号的力反馈装置上的致动器产生的物理力。稳态幅度值低于产生具有与使用者相似的明显感觉的相应感觉所需的非冲击形状力信号的幅度值。

65. 发明授权

US07168042B2 Force effects for object types in a graphical user interface 有权
标题翻译：图形用户界面中对象类型的强制效果
公开(公告)号：US07168042B2
公开(公告)日：2007-01-23
申请号：US09974197
申请日：2001-10-09
申请人： Adam C. Braun , Jonathan L. Beamer , Louis B. Rosenberg , Dean C. Chang
发明人： Adam C. Braun , Jonathan L. Beamer , Louis B. Rosenberg , Dean C. Chang
IPC分类号： G06F3/00
CPC分类号： G06F3/016 , G05B19/00 , G06F3/0338 , G06F3/03543 , G06F3/03548 , G06F3/04842 , G06F2203/013 , G06F2203/014 , G06F2203/0333 , H04L67/02 , H04L67/36 , H04L69/329
摘要： Force effects for a graphical user interface of a computer are provided based on user preference information, which indicates the types of graphical objects in the graphical user interface which are to have force effects associated with them, and at least one particular force effect assigned to each of those types of graphical objects. An output of a force sensation by a haptic feedback device to the user is based on those assigned force effects and occurs when a displayed cursor controlled by a user interacts with a graphical object having one of the types. An architecture for a host computer allowing multi-tasking application programs to interface with a feedback device is also disclosed.
摘要翻译：基于用户偏好信息提供对计算机的图形用户界面的强制效果，所述用户偏好信息指示图形用户界面中具有与其相关联的力效应的图形对象的类型，以及分配给每个的这些类型的图形对象。通过触觉反馈装置对用户的力感觉的输出基于这些分配的力效应，并且当由用户控制的显示的光标与具有其中一种类型的图形对象交互时发生。还公开了允许多任务应用程序与反馈设备接口的主机的架构。

66. 发明授权

US06411276B1 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：US06411276B1
公开(公告)日：2002-06-25
申请号：US09687744
申请日：2000-10-13
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： G09G500
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。

67. 发明授权

US06278439B1 Method and apparatus for shaping force signals for a force feedback device 有权
标题翻译：用于形成力反馈装置的力信号的方法和装置
公开(公告)号：US06278439B1
公开(公告)日：2001-08-21
申请号：US09322245
申请日：1999-05-28
申请人： Louis B. Rosenberg , Adam C. Braun
发明人： Louis B. Rosenberg , Adam C. Braun
IPC分类号： G09G508
CPC分类号： G06F3/016 , A63F13/06 , A63F13/23 , A63F13/285 , A63F2300/1025 , A63F2300/1037 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F3/011 , G06F3/0383 , G06F2203/014 , G06F2203/015 , H01H2003/008 , H04L67/38
摘要： A method and apparatus for shaping force signals for a force feedback device. A source wave is provided and is defined by a set of control parameters (including a steady state magnitude, a frequency value and a duration value) and modified by a set of impulse parameters (including an impulse magnitude, and a settle time representing a time required for the impulse magnitude to change to the steady-state magnitude). Optionally, application parameters specifying a direction of force signal and trigger parameters specifying activating buttons can also be provided for the source wave. Using a host processor or a local processor, the force signal is formed from the source wave and the sets of control parameters and impulse parameters, where the force signal includes an impulse signal followed by a continual steady-state signal after an expiration of the settle time. A feel sensation is generated to a user of the force feedback device as physical forces produced by actuators on the force feedback device in response to the force signal. The steady-state magnitude value is lower than a magnitude value of a non-impulse-shaped force signal required to create a corresponding feel sensation having a similar apparent sensation to the user.
摘要翻译：一种用于形成力反馈装置的力信号的方法和装置。提供源波，并由一组控制参数（包括稳态幅度，频率值和持续时间值）定义，并由一组脉冲参数（包括脉冲幅度和表示时间的稳定时间）脉冲幅度变为稳态幅度所需）。可选地，也可以为源波提供指定力信号方向的应用参数和指定启动按钮的触发参数。使用主处理器或本地处理器，力信号由源波形和控制参数和脉冲参数组形成，其中力信号包括脉冲信号，随后是稳定期满之后的连续稳态信号时间。对力反馈装置的使用者产生感觉，作为响应于力信号的力反馈装置上的致动器产生的物理力。稳态幅度值低于产生具有与使用者相似的明显感觉的相应感觉所需的非冲击形状力信号的幅度值。

68. 发明授权

US08527873B2 Force feedback system including multi-tasking graphical host environment and interface device 有权
标题翻译：强制反馈系统，包括多任务图形主机环境和接口设备
公开(公告)号：US08527873B2
公开(公告)日：2013-09-03
申请号：US11504131
申请日：2006-08-14
申请人： Adam C. Braun , Jonathan L. Beamer , Louis B. Rosenberg , Dean C. Chang
发明人： Adam C. Braun , Jonathan L. Beamer , Louis B. Rosenberg , Dean C. Chang
IPC分类号： G06F3/00
CPC分类号： G06F3/016 , G05B19/00 , G06F3/0338 , G06F3/03543 , G06F3/03548 , G06F3/04842 , G06F2203/013 , G06F2203/014 , G06F2203/0333 , H04L67/02 , H04L67/36 , H04L69/329
摘要： A force feedback system provides components for use in a force feedback system including a host computer and a force feedback interface device. An architecture for a host computer allows multi-tasking application programs to interface with the force feedback device without conflicts. One embodiment of a force feedback device provides both relative position reporting and absolute position reporting to allow great flexibility. A different device embodiment provides relative position reporting device allowing maximum compatibility with existing software. Information such as ballistic parameters and screen size sent from the host to the force feedback device allow accurate mouse positions and cursor positions to be determined in the force feedback environment. Force feedback effects and structures are further described, such as events and enclosures.
摘要翻译：力反馈系统提供用于包括主计算机和力反馈接口装置的力反馈系统中的组件。用于主计算机的架构允许多任务应用程序与力反馈装置进行接口而没有冲突。力反馈装置的一个实施例提供相对位置报告和绝对位置报告以允许很大的灵活性。不同的设备实施例提供相对位置报告设备，允许与现有软件的最大兼容性。从主机发送到力反馈装置的诸如弹道参数和屏幕尺寸的信息允许在力反馈环境中确定精确的鼠标位置和光标位置。进一步描述力反馈效应和结构，例如事件和机箱。

69. 发明授权

US08077145B2 Method and apparatus for controlling force feedback interface systems utilizing a host computer 失效
标题翻译：用于控制利用主计算机的力反馈界面系统的方法和装置
公开(公告)号：US08077145B2
公开(公告)日：2011-12-13
申请号：US11227610
申请日：2005-09-15
申请人： Louis B. Rosenberg , Adam C. Braun , Mike D. Levin
发明人： Louis B. Rosenberg , Adam C. Braun , Mike D. Levin
IPC分类号： G06F3/033 , G09G5/08
CPC分类号： G06F3/016 , A63F13/06 , A63F13/285 , A63F2300/1025 , A63F2300/1037 , A63F2300/1043 , B25J9/1692 , G01B5/008 , G01B7/004 , G01B21/04 , G05B19/4207 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F3/011 , G06F3/038 , G06F3/0383 , G06F2203/014 , G06F2203/015 , H01H2003/008
摘要： 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 a user object moved by the user, such as a joystick. The microprocessor controls actuators to provide forces on the user object and provides the sensor data to a host computer that is coupled to the interface device. The host computer sends high level host commands to the local microprocessor, and the microprocessor independently implements a local reflex process based on the high level command to provide force values to the actuators using sensor data and other parameters. A provided host command protocol includes a variety of different types of host commands and associated command parameters. By providing a relatively small set of high level host commands and parameters which are translated into a panoply of forces, the protocol further shifts the computational burden from the host computer to the local microprocessor and allows a software developer to easily create force feedback applications.
摘要翻译：一种使用由用户操纵的接口装置来控制和提供力反馈的方法和装置。在接口设备本地提供微处理器，并从传感器读取传感器数据，该传感器描述用户（例如操纵杆）移动的用户对象的位置和/或其他信息。微处理器控制致动器以在用户对象上提供力并将传感器数据提供给耦合到接口设备的主计算机。主计算机向本地微处理器发送高级主机命令，并且微处理器基于高电平命令独立地实现局部反射过程，以使用传感器数据和其他参数向致动器提供力值。提供的主机命令协议包括各种不同类型的主机命令和相关命令参数。通过提供一组相对较小的高级主机命令和参数，这些命令和参数被翻译成一个总体的力量，协议进一步将计算负担从主机转移到本地微处理器，并允许软件开发人员轻松创建力反馈应用程序。

70. 发明授权

US07969288B2 Force feedback system including multi-tasking graphical host environment and interface device 有权
标题翻译：强制反馈系统，包括多任务图形主机环境和接口设备
公开(公告)号：US07969288B2
公开(公告)日：2011-06-28
申请号：US11982593
申请日：2007-11-02
申请人： Adam C. Braun , Jonathan L. Beamer , Louis B. Rosenberg , Dean C. Chang
发明人： Adam C. Braun , Jonathan L. Beamer , Louis B. Rosenberg , Dean C. Chang
IPC分类号： H04B3/36 , G09G5/00 , G09B21/00
CPC分类号： G06F3/016 , G05B19/00 , G06F3/0338 , G06F3/03543 , G06F3/03548 , G06F3/04842 , G06F2203/013 , G06F2203/014 , G06F2203/0333 , H04L67/02 , H04L67/36 , H04L69/329
摘要： A force feedback system provides components for use in a force feedback system including a host computer and a force feedback interface device. An architecture for a host computer allows multi-tasking application programs to interface with the force feedback device without conflicts. One embodiment of a force feedback device provides both relative position reporting and absolute position reporting to allow great flexibility. A different device embodiment provides relative position reporting device allowing maximum compatibility with existing software. Information such as ballistic parameters and screen size sent from the host to the force feedback device allow accurate mouse positions and cursor positions to be determined in the force feedback environment. Force feedback effects and structures are further described, such as events and enclosures.
摘要翻译：力反馈系统提供用于包括主计算机和力反馈接口装置的力反馈系统中的组件。用于主计算机的架构允许多任务应用程序与力反馈装置进行接口而没有冲突。力反馈装置的一个实施例提供相对位置报告和绝对位置报告以允许很大的灵活性。不同的设备实施例提供相对位置报告设备，允许与现有软件的最大兼容性。从主机发送到力反馈装置的诸如弹道参数和屏幕尺寸的信息允许在力反馈环境中确定精确的鼠标位置和光标位置。进一步描述力反馈效应和结构，例如事件和机箱。

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