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1. 发明申请

WO9721160A2 METHOD AND APPARATUS FOR PROVIDING FORCE FEEDBACK FOR A GRAPHICAL USER INTERFACE 审中-公开
标题翻译：用于为图形用户界面提供力反馈的方法和装置
公开(公告)号：WO9721160A2
公开(公告)日：1997-06-12
申请号：PCT/IB9601441
申请日：1996-11-26
申请人： IMMERSION HUMAN INTERFACE CORP
发明人： ROSENBERG LOUIS B , BRAVE SCOTT B
IPC分类号： G05G9/047 , G06F3/00 , G06F3/01 , G06F3/038 , H04L29/06 , G06F
CPC分类号： G06F3/016 , A63F13/06 , A63F13/285 , A63F2300/1025 , A63F2300/1037 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F3/038 , G06F3/0383 , G06F3/04812 , G06F2203/014 , G06F2203/015 , H01H2003/008 , H04L67/38
摘要： A method and apparatus for providing force feedback to a user operating a human/computer interface device in conjunction with a graphical user interface (GUI) displayed by a host computer system. A physical object, such as a joystick or a mouse, controls a graphical object, such as a cursor, within the GUI. The GUI allows the user to interface with operating system functions implemented by the computer system. A signal is output from the host computer to the interface device to apply a force sensation to the physical object using one or more actuators. This desired force sensation is associated with at least one of the graphical objects and operating system functions of the graphical user interface and is determined by a location of the cursor in the GUI with respect to targets that are associated with the graphical objects. The graphical objects include icons, windows, pull-down menus and menu items, scroll bars ("sliders"), and buttons. The force sensation assists the user to select a desired operating system function or physically informs the user of the graphical objects encountered by the cursor within the GUI. A microprocessor local to the interface apparatus and separate from the host computer can be used to control forces on the physical object.
摘要翻译：结合由主计算机系统显示的图形用户界面（GUI）向操作人/计算机接口设备的用户提供力反馈的方法和装置。诸如操纵杆或鼠标的物理对象在GUI内控制诸如光标的图形对象。 GUI允许用户与由计算机系统实现的操作系统功能接口。信号从主计算机输出到接口装置，以使用一个或多个致动器对物理对象施加力感。该期望的力感觉与图形用户界面的至少一个图形对象和操作系统功能相关联，并且由GUI中的游标相对于与图形对象相关联的目标的位置确定。图形对象包括图标，窗口，下拉菜单和菜单项，滚动条（“滑块”）和按钮。力感觉帮助用户选择所需的操作系统功能，或物理地通知用户GUI内遇到的图形对象。可以使用接口设备本地并与主机分离的微处理器来控制物理对象上的力。

2. 发明申请

WO9847058A3 FORCE FEEDBACK INTERFACE WITH SELECTIVE DISTURBANCE FILTER 审中-公开
标题翻译：具有选择性干扰滤波器的反馈接口
公开(公告)号：WO9847058A3
公开(公告)日：1999-01-21
申请号：PCT/US9807528
申请日：1998-04-13
申请人： IMMERSION HUMAN INTERFACE CORP
发明人： ROSENBERG LOUIS B , CHANG DEAN C
IPC分类号： G06F3/00 , G06F3/01 , G06F
CPC分类号： G06F3/016 , G06F3/011 , G06F2203/014 , G06F2203/015
摘要： A force feedback interface and method providing a selective disturbance filter for providing selective reduction or elimination of displayed disturbances associated with output force sensations. A force feedback interface device (14) is connected to a host computer (12) that displays a graphical environment. The interface device (14) includes a user manipulatable object (34), sensors (28) for detecting movement of the user object (34), and actuators (30) to apply output forces to the user object (34). A microprocessor (26) outputs controlling force signals to the actuators (30), receives signals from the sensors (28), and reports locative data to the host computer (12) indicative of the movement of the user object (34). The host computer (12) updates a position of a displayed user-controlled graphical object in the graphical environment based on the reported data. The microprocessor (26) implements a selective disturbance filter for modifying the locative data reported to the host computer (12) when the output force would cause a disturbance to the user-controlled graphical object, the disturbance occurring when an output force sensation affects the position of the user object (34) such that the host computer (12) would display the user-controlled graphical object in an undesired location or with an undesired motion in the graphical environment.

3. 发明申请

WO9824180A3 METHOD AND APPARATUS FOR SHAPING FORCE SIGNALS FOR A FORCE FEEDBACK DEVICE 审中-公开
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：WO9824180A3
公开(公告)日：1998-09-03
申请号：PCT/US9720510
申请日：1997-11-10
申请人： IMMERSION HUMAN INTERFACE CORP
发明人： ROSENBERG LOUIS B , BRAUN ADAM C
IPC分类号： A63F13/06 , G05G9/047 , G06F3/00 , G06F3/01 , G06F3/038 , H04L29/06 , H03K
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 and modified by a set of impulse parameters. Using a host or local processor, the force signal is formed from the source wave, the control parameters and the impulse parameters, where the force signal includes an impulse signal followed by a continuous steady-state signal to generate a feel sensation to the user.

4. 发明申请

WO9826342A3 FORCE FEEDBACK INTERFACE HAVING ISOTONIC AND ISOMETRIC FUNCTIONALITY 审中-公开
标题翻译：具有等离子体和等同功能的力反馈界面
公开(公告)号：WO9826342A3
公开(公告)日：1998-09-03
申请号：PCT/US9721559
申请日：1997-11-25
申请人： IMMERSION HUMAN INTERFACE CORP , ROSENBERG LOUIS B
发明人： ROSENBERG LOUIS B
IPC分类号： G05G9/047 , G06F3/00 , G06F3/01 , G06F3/039 , G06F
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/0477 , G06F3/0354 , G06F3/03543 , G06F3/0362 , G06F3/0395 , H01H2003/008
摘要： An apparatus and a method of implementing a force feedback interface having isotonic and isometric control capability. The apparatus is coupled to a computer that displays a graphical environment. The interface includes a physical object (12) movable in physical space, such as a mouse. A sensor (51, 52) detects the object's movement, and an actuator (48) applies output force on the physical object. A mode selector (250a, 408) selects isotonic and isometric control modes of the interface from an input device or from an interaction between graphical objects. Isotonic mode provides input to the computer based on a position of the physical object and correspondingly updates a position of a cursor, and applies force sensations to the physical object. Isometric mode provides input to the 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. 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.

5. 发明申请

WO9824183A8 MOUSE INTERFACE DEVICE FOR PROVIDING FORCE FEEDBACK 审中-公开
标题翻译：用于提供力反馈的鼠标接口装置
公开(公告)号：WO9824183A8
公开(公告)日：2000-01-06
申请号：PCT/US9721601
申请日：1997-11-25
申请人： IMMERSION HUMAN INTERFACE CORP , SCHENA BRUCE M , ROSENBERG LOUIS B
发明人： SCHENA BRUCE M , ROSENBERG LOUIS B
IPC分类号： G05G9/047 , G06F3/00 , G06F3/01 , G06F3/033 , G09B23/28 , H03K17/94 , G05G9/00 , G05G13/00 , G09G5/00 , G09G5/08 , H01H19/00 , H01H21/00 , H03M11/00
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/0477 , G06F3/0354 , G06F3/03543 , G06F2203/015 , G09B23/285 , H01H2003/008
摘要： A force feedback mouse interface device as shown in the Figure connected to a host computer and providing realistic force feedback to a user. The mouse interface device (11) includes a mouse object (12) and a linkage (40) coupled to the mouse that includes a plurality of members (46, 50) rotatably coupled to each other in a planar closed-loop linkage, two of the members coupled to ground and rotatable about the same axis (52). Two actuators (64), 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 (64a) integrated with one of the members of the linkage and a magnet portion (90a) coupled to the ground surface through which the coil portion moves. At least one sensor (62) 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：如图所示的力反馈鼠标接口设备连接到主机，并向用户提供逼真的力反馈。鼠标接口设备（11）包括鼠标对象（12）和联接到鼠标的联动装置（40），其包括以平面闭环联动方式彼此可旋转地联接的多个构件（46,50），其中两个所述构件联接到地面并且可围绕同一轴线（52）旋转。两个致动器（64），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成一体的可移动线圈部分（64a）和耦合到线圈部分通过其移动的接地表面的磁体部分（90a）。至少一个传感器（62）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，从而可以确定鼠标对象在平面工作空间中的位置。

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