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41. 发明授权

US06859819B1 Force feedback enabled over a computer network 失效
标题翻译：通过计算机网络启用强制反馈
公开(公告)号：US06859819B1
公开(公告)日：2005-02-22
申请号：US09628586
申请日：2000-07-31
申请人： Louis B. Rosenberg , Sian W. Tan
发明人： Louis B. Rosenberg , Sian W. Tan
IPC分类号： G06F3/00 , G06F3/01 , G06F3/033 , H04L29/06 , H04L29/08 , G06F15/16
CPC分类号： G06F3/016 , A63F2300/1025 , A63F2300/1037 , G06F3/0354 , G06F3/03543 , G06F3/03548 , G06F2203/013 , G06F2203/014 , H04L29/06 , H04L67/02 , H04L67/36 , H04L67/38 , H04L67/42 , H04L69/329
摘要： A method for providing force feedback over a network supporting TCP/IP protocols by: (a) sending from a client computer over a network supporting TCP/IP protocols, a connection request to a web server connected to the network that is hosting a desired URL; (b) receiving and processing an HTML file at the client computer that was sent from the web server in response to the connection request, wherein the processing includes parsing an embedded force object reference having associated parameters and building a force object therefrom; (c) developing a force feedback signal with the force object; and (d) providing force feedback to a human/computer interface device coupled to the client computer in response to the force feedback signal. A networked force feedback system of the present invention includes a network, a first computer coupled to the network, and a second computer coupled to the network, where the second computer includes a visual display and a human/computer interface device capable of providing a second computer input and providing force feedback in response to a force feedback signal provided by the second computer. The second computer develops an image on the visual display that is associated with stored feedback information, such that the second computer produces the force feedback signal in response to at least one of information derived from the first computer and of the second computer input.
摘要翻译：一种通过以下方式在支持TCP / IP协议的网络上提供力反馈的方法：（a）通过支持TCP / IP协议的网络从客户端计算机发送连接到连接到网络的网络服务器的连接请求，该网络服务器承载所需的URL ; （b）响应于所述连接请求，从所述客户端计算机接收和处理从所述web服务器发送的HTML文件，其中所述处理包括解析具有相关参数的嵌入的强制对象引用并从其构建强制对象; （c）用力对象发展力反馈信号; 以及（d）响应于所述力反馈信号向耦合到所述客户端计算机的人/计算机接口装置提供力反馈。本发明的网络力反馈系统包括网络，耦合到网络的第一计算机以及耦合到网络的第二计算机，其中第二计算机包括可视显示器和能够提供第二计算机的人/计算机接口设备计算机输入和响应于由第二计算机提供的力反馈信号提供力反馈。第二计算机在视觉显示器上开发与存储的反馈信息相关联的图像，使得第二计算机响应于从第一计算机和第二计算机输入得到的信息中的至少一个产生力反馈信号。

42. 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.

43. 发明授权

US06693626B1 Haptic feedback using a keyboard device 有权
标题翻译：触觉反馈使用键盘设备
公开(公告)号：US06693626B1
公开(公告)日：2004-02-17
申请号：US09570361
申请日：2000-05-12
申请人： Louis B. Rosenberg
发明人： Louis B. Rosenberg
IPC分类号： G09G500
CPC分类号： G06F3/016 , G06F3/0202 , G06F3/021 , G06F3/0213 , G06F3/0219 , G06F3/03543 , G06F3/03549 , G06F2203/014 , H04L69/329
摘要： A low-cost haptic feedback keyboard device for providing haptic feedback to a user for enhancing interactions in a displayed environment provided by a computer. The haptic keyboard device can be a keyboard having multiple keys, or can be a wrist rest or other attachment coupled to a keyboard. The device includes a housing that is physically contacted by the user and rests on a support surface. An actuator is coupled to the housing and applies a force to the housing approximately along an axis that is substantially perpendicular to the support surface, where the force is transmitted to the user contacting the housing. In one embodiment, the force is an inertial force that is output by moving an inertial mass. The keyboard device can be used in conjunction with another haptic device, such as a mouse, trackball, or joystick.
摘要翻译：一种用于向用户提供触觉反馈以增强由计算机提供的显示环境中的交互作用的低成本触觉反馈键盘装置。触觉键盘装置可以是具有多个键的键盘，或者可以是与键盘耦合的腕托或其他附件。该装置包括由使用者物理接触并搁置在支撑表面上的壳体。致动器联接到壳体并且大致沿着基本上垂直于支撑表面的轴线向壳体施加力，其中力被传递到与壳体接触的使用者。在一个实施例中，力是通过移动惯性质量而输出的惯性力。键盘装置可以与诸如鼠标，轨迹球或操纵杆的另一触觉装置结合使用。

44. 发明授权

US06639581B1 Flexure mechanism for interface device 有权
标题翻译：接口设备的弯曲机构
公开(公告)号：US06639581B1
公开(公告)日：2003-10-28
申请号：US09376649
申请日：1999-08-18
申请人： David F. Moore , Kenneth M. Martin , Steve P. Vassallo , Louis B. Rosenberg
发明人： David F. Moore , Kenneth M. Martin , Steve P. Vassallo , Louis B. Rosenberg
IPC分类号： G09G500
CPC分类号： G06F3/016 , G05G9/047 , G06F2203/015 , G09B23/285
摘要： A flexure mechanism for an interface device that interfaces a user with a computer system. An interface device includes a manipulandum physically contacted by the user. A five-bar closed-loop mechanism is coupled to the manipulandum to provide two rotary degrees of freedom to the manipulandum. The mechanism includes members coupled to each other by flexible couplings allowing rotation of the members. In preferred embodiments, four or five of the members are coupled together by flexible couplings that allow bending, thereby forming a unitary piece, where the couplings are oriented along axes of rotation of the mechanism. A sensor senses a position of the manipulandum outputs a sensor signal, and in some embodiments actuators are coupled to the mechanism to output a force to the manipulandum in particular degrees of freedom. The manipulandum can be a joystick handle or portion of a sphere, where the device in one embodiment can be a handheld gamepad or similar controller.
摘要翻译：用于将用户与计算机系统接口的接口设备的弯曲机构。接口设备包括用户实际接触的操作。五杆闭环机构与操作联系在一起，为操纵提供两个旋转自由度。该机构包括通过允许构件旋转的柔性联接器彼此联接的构件。在优选实施例中，四个或五个构件通过允许弯曲的柔性联接器联接在一起，从而形成整体构件，其中联接件沿着机构的旋转轴线定向。传感器感测操纵的位置输出传感器信号，并且在一些实施例中，致动器联接到机构以在特定的自由度上向操纵力输出力。操纵杆可以是操纵杆手柄或球体的一部分，其中一个实施例中的装置可以是手持式操纵手柄或类似的控制器。

45. 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。

46. 发明授权

US06353427B1 Low cost force feedback device with actuator for non-primary axis 有权
标题翻译：低成本力反馈装置，带有非主轴的执行器
公开(公告)号：US06353427B1
公开(公告)日：2002-03-05
申请号：US09563783
申请日：2000-05-02
申请人： Louis B. Rosenberg
发明人： Louis B. Rosenberg
IPC分类号： G09G500
CPC分类号： G06F3/016 , A63F13/06 , A63F13/245 , A63F13/285 , A63F2300/1037 , A63F2300/1062 , A63F2300/1068 , A63F2300/8017 , G06F3/011 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/0362 , G06F2203/013 , G06F2203/014 , G06F2203/015 , H04L69/329
摘要： A force feedback interface and method including an actuator in a non-primary axis or degree of freedom. The force feedback interface device is connected to a host computer that implements a host application program or graphical environment. The interface device includes a user manipulatable object, a sensor for detecting movement of the user object, and an actuator to apply output forces to the user object. The actuator outputs a linear force on the user object in non-primary linear axis or degree of freedom that is not used to control a graphical object or entity implemented by the host computer, and movement in the non-primary degree of freedom is preferably not sensed by sensors. The axis extends through the user object, and there are preferably no other actuators in the device, thus allowing the force feedback device to be very cost effective. Force sensations such as a jolt, vibration, a constant force, and a texture force can be output on the user object with the actuator. The force sensations can be output in a direction perpendicular to a planar degree of freedom, radial to spherical degree of freedom, and/or along a lengthwise axis of the user object.
摘要翻译：一种力反馈界面和方法，包括非主轴或自由度的致动器。力反馈接口设备连接到实现主机应用程序或图形环境的主计算机。接口装置包括用户可操纵对象，用于检测用户对象的移动的传感器，以及向用户对象施加输出力的致动器。执行器以非主要线性轴或自由度在用户对象上输出线性力，其不用于控制由主计算机实现的图形对象或实体，并且非主要自由度的移动优选地不是由传感器感测。该轴线延伸穿过用户物体，并且优选地，该装置中不存在其他致动器，从而允许力反馈装置非常成本有效。致动器可以在用户物体上输出诸如颠簸，振动，恒定力和纹理力的力感。力感觉可以在与用户物体的平面自由度，径向到球形自由度和/或沿着纵向轴线垂直的方向上输出。

47. 发明授权

US06252579B1 Interface device and method for providing enhanced cursor control with force feedback 失效
标题翻译：用于通过力反馈提供增强的光标控制的接口设备和方法
公开(公告)号：US06252579B1
公开(公告)日：2001-06-26
申请号：US08924462
申请日：1997-08-23
申请人： Louis B. Rosenberg , Jonathan L. Beamer , Adam C. Braun , Dean C. Chang
发明人： Louis B. Rosenberg , Jonathan L. Beamer , Adam C. Braun , Dean C. Chang
IPC分类号： G09G508
CPC分类号： G06F3/016 , G06F3/0354 , G06F3/03548 , G06F3/038 , 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. A scaled cursor position in the display frame is reported to the host computer derived from a reference position of the mouse in the local frame, and the host displays the cursor. For example, the cursor position may be scaled by a ballistics algorithm based on mouse velocity to allow fine positioning or coarse motion of the cursor. A force is output on the mouse based on interactions in the GUI, the force being determined based on mouse reference data or cursor ballistic data, depending on the type of force, to reduce distortion between visual and force outputs.
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。显示帧中的缩放的光标位置被报告给从本地帧中的鼠标的参考位置派生的主计算机，并且主机显示光标。例如，可以通过基于鼠标速度的弹道学算法来缩放光标位置，以允许光标的精细定位或粗略运动。基于GUI中的相互作用，鼠标上输出力，根据力的类型，基于鼠标参考数据或光标弹道数据确定力，以减少视觉和力输出之间的扭曲。

48. 发明授权

US06232891B1 Force feedback interface device having isometric functionality 有权
标题翻译：具有等距功能的力反馈接口设备
公开(公告)号：US06232891B1
公开(公告)日：2001-05-15
申请号：US09160985
申请日：1998-09-24
申请人： Louis B. Rosenberg
发明人： Louis B. Rosenberg
IPC分类号： G08B1100
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/0477 , G06F3/0354 , G06F3/03543 , G06F3/0362 , G06F3/0395 , H01H2003/008
摘要： A force feedback interface having isotonic and isometric control capability coupled to a host computer that displays a graphical environment such as a GUI. The interface includes a user manipulatable physical object movable in physical space, such as a mouse or puck. A sensor detects the object's movement and an actuator applies output force on the physical object. A mode selector selects isotonic and isometric control modes of the interface from an input device such as a physical button or from an interaction between graphical objects. Isotonic mode provides input to the host computer based on a position of the physical object and updates a position of a cursor, and force sensations can be applied to the physical object based on movement of the cursor. Isometric mode provides input to the host computer based on an input force applied by the user to the physical object, where the input force is determined from a sensed deviation of the physical object in space. The input force opposes an output force applied by the actuator and is used to control a function of an application program, such as scrolling a document or panning or zooming a displayed view. An overlay force, such as a jolt or vibration, can be added to the output force in isometric mode to indicate an event or condition in the graphical environment.
摘要翻译：力反馈界面，其具有与显示图形环境（诸如GUI）的主计算机相连的等张和等距控制能力。界面包括可在物理空间中移动的用户可操纵的物理对象，诸如鼠标或冰球。传感器检测物体的运动，并且致动器对物体进行输出力。模式选择器从诸如物理按钮的输入设备或者图形对象之间的交互中选择接口的等张和等距控制模式。等渗模式基于物理对象的位置向主计算机提供输入，并更新光标的位置，并且可以基于光标的移动将强制感觉应用于物理对象。等距模式基于用户施加到物理对象的输入力向主计算机提供输入，其中输入力是根据感测到的空间物体的偏差来确定的。输入力与由致动器施加的输出力相反，并用于控制应用程序的功能，例如滚动文档或平移或缩放所显示的视图。叠加力，如颠簸或振动，可以在等距模式中添加到输出力，以指示图形环境中的事件或状态。

49. 发明授权

US6088019A Low cost force feedback device with actuator for non-primary axis 失效
公开(公告)号：US6088019A
公开(公告)日：2000-07-11
申请号：US103281
申请日：1998-06-23
申请人： Louis B. Rosenberg
发明人： Louis B. Rosenberg
IPC分类号： A63F13/06 , G06F3/00 , G06F3/01 , G06F3/033 , H04L29/08 , G09G5/00
CPC分类号： G06F3/016 , A63F13/06 , A63F13/245 , A63F13/285 , G06F3/011 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/0362 , A63F2300/1037 , A63F2300/1062 , A63F2300/1068 , A63F2300/8017 , G06F2203/013 , G06F2203/014 , G06F2203/015 , H04L69/329
摘要： A force feedback interface and method including an actuator in a non-primary axis or degree of freedom. The force feedback interface device is connected to a host computer that implements a host application program or graphical environment. The interface device includes a user manipulatable object, a sensor for detecting movement of the user object, and an actuator to apply output forces to the user object. The actuator outputs a linear force on the user object in non-primary linear axis or degree of freedom that is not used to control a graphical object or entity implemented by the host computer, and movement in the non-primary degree of freedom is preferably not sensed by sensors. The axis extends through the user object, and there are preferably no other actuators in the device, thus allowing the force feedback device to be very cost effective. Force sensations such as a jolt, vibration, a constant force, and a texture force can be output on the user object with the actuator. The force sensations can be output in a direction perpendicular to a planar degree of freedom, radial to spherical degree of freedom, and/or along a lengthwise axis of the user object.

50. 发明授权

US6057828A Method and apparatus for providing force sensations in virtual environments in accordance with host software 失效
标题翻译：根据主机软件在虚拟环境中提供力感觉的方法和装置
公开(公告)号：US6057828A
公开(公告)日：2000-05-02
申请号：US784803
申请日：1997-01-16
申请人： Louis B. Rosenberg , Bernard G. Jackson
发明人： Louis B. Rosenberg , Bernard G. Jackson
IPC分类号： A61B19/00 , B25J9/16 , G01B21/04 , G05B19/42 , G05G9/047 , G06F3/00 , G06F3/01 , G06F3/038 , G09B9/28 , G09B23/28 , G09G5/00
CPC分类号： G06F3/016 , B25J9/1692 , G01B21/04 , G05B19/4207 , G06F3/0346 , G06F3/038 , G06F3/0383 , G09B23/28 , G09B9/28 , A61B90/50 , G05G2009/0474 , G05G2009/04766 , G05G9/047 , G05G9/04737 , G06F2203/015 , H01H2003/008
摘要： A method and apparatus for providing force sensations in virtual environments includes a human/computer interface device and method used in conjunction with a host computer and which can provide feel sensations to a user of the device. A user manipulatable object physically contacted by a user, such as a joystick, stylus, pool cue, or other object, is movable in multiple degrees of freedom using a gimbal mechanism. A local microprocessor, separate from the host computer, enables communication with the host computer and receives commands from the host, decodes the commands, outputs actuator signals in accordance with commands, receives sensor signals, and reports data to the host in response to commands. Actuators generate feel sensations by providing a force on the user object in response to actuator signals from the local microprocessor, and sensors detect the motion of the user object and reports sensor signals to the local microprocessor. Memory is included locally to the local microprocessor for storing program instructions and routines enabling feel sensations and host-microprocessor communication. The feel sensation generated on the user is, in one embodiment, a damping sensation simulating a feel of motion through a fluid. In another embodiment, the feel sensation is a wall sensation simulating the feel of impacting a surface or obstruction.
摘要翻译：用于在虚拟环境中提供力感觉的方法和装置包括与主机结合使用并且可以为设备的用户提供感觉的人/计算机接口设备和方法。由用户物理接触的用户可操纵对象（诸如操纵杆，触控笔，游泳池提示或其他对象）可以使用万向节机制在多个自由度上移动。与主机分离的本地微处理器使得能够与主计算机进行通信并从主机接收命令，解码命令，根据命令输出执行器信号，接收传感器信号，并根据命令向主机报告数据。致动器通过响应于来自本地微处理器的致动器信号在用户对象上提供力而产生感觉，并且传感器检测用户对象的运动并将传感器信号报告给本地微处理器。存储器本地包括在本地微处理器中，用于存储程序指令和程序，使得能够感觉到感觉和主机 - 微处理器通信。在一个实施例中，在用户身上产生的感觉是通过流体模拟运动感的阻尼感。在另一个实施例中，感觉是模拟影响表面或障碍物的感觉的壁感觉。

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