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    • 3. 发明授权
    • System and method of applying force feedback to a manipulandum wheel utilized with a graphical user interface
    • 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
    • US07564444B2
    • 2009-07-21
    • US11252505
    • 2005-10-17
    • Louis B. RosenbergBruce M. Schena
    • Louis B. RosenbergBruce M. Schena
    • G09G5/00G06F3/01
    • G06F3/016G06F3/0354G06F2203/014
    • 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.
    • 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。
    • 4. 发明授权
    • Force feedback interface device with sensor
    • 强制反馈接口设备与传感器
    • US07253803B2
    • 2007-08-07
    • US09755383
    • 2001-01-05
    • Bruce M. SchenaLouis B. Rosenberg
    • Bruce M. SchenaLouis B. Rosenberg
    • G09G5/00G09G5/08
    • G05G9/047A61B90/50A63F2300/1037B25J9/1692G01B5/008G01B7/004G01B21/04G05B19/4207G05G9/04737G05G2009/0474G05G2009/04766G05G2009/0477G06F3/016G06F3/0346G06F3/0354G06F3/03543G06F3/038G06F3/0383G06F2203/015G09B9/28G09B23/28G09B23/285H01H2003/008
    • 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.
    • 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。
    • 7. 发明授权
    • Method and apparatus for providing high bandwidth force feedback with
improved actuator feel
    • 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
    • US6050718A
    • 2000-04-18
    • US791020
    • 1997-01-27
    • Bruce M. SchenaLouis B. Rosenberg
    • Bruce M. SchenaLouis B. Rosenberg
    • A63F13/06G05G9/047G06F3/00G06F3/01G06F3/038G06F19/00
    • G06F3/016A63F13/06A63F13/285G05G9/047G06F3/011G06F3/0383A63F2300/1025A63F2300/1037G05G2009/04766G05G2009/04777G06F2203/015
    • 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.
    • 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。