US6184868B1
Expired / Lapsed
US
⏱️ 0.0 years remaining
Haptic feedback control devices
Assignee: Immersion Corp
•
Filing: 1998-09-17
•
Granted: 2001-02-06
•
Expires: 2018-09-17
Abstract
Abstract Haptic feedback control devices of the present invention include several embodiments. One embodiment includes a housing and a pair of moveable pincher members coupled to the housing. Each pincher member is contacted by a finger of the user when the device is operated and moveable in a degree of freedom approximately within a single plane. An actuator outputs force feedback on the pincher members and a sensor detects a position of the pincher members in the degrees of freedom. The device housing can include a fixed portion and a moveable portion, where the user contacts both fixed and moveable portions. A coupling, such as a flexure, allows the moveable portion to move relative to the fixed portion in a direction parallel to an outer surface of the moveable portion contacted by the user. An actuator outputs a force on the flexure to cause the moveable portion to move, such as an oscillating force to cause vibration. These improvements allow a user to feel force feedback and tactile feedback when operating the device. Applications include telemanipulator devices as well as interface devices and game controllers for computers.
Inventors
- 👤 Erik J. Shahoian
- 👤 Christopher J. Hasser
- 👤 Louis B. Rosenberg
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-03 12:29
CPC Classifications
G; G06; G06F; G06F3/00; G06F3/01; G06F3/011; A; A63; A63F; A63F13/00; A63F13/20; A63F13/23; A63F13/24; A63F13/245; A63F13/25; A63F13/28; A63F13/285; A63F13/40; A63F13/42; A63F13/428; A63F13/90; A63F13/92; G06F3/016; G06F3/03; G06F3/033; G06F3/0338; G06F3/0354; G06F3/03543; G06F3/03545; G06F3/0362; A63F13/21; A63F13/213; A63F13/218; A63F13/235; A63F2300/00; A63F2300/10; A63F2300/1006; A63F2300/1025; A63F2300/1031; A63F2300/1037; A63F2300/1043; A63F2300/1056; A63F2300/1062; A63F2300/1087; A63F2300/20; A63F2300/204; A63F2300/80; A63F2300/8017; G06F2203/00; G06F2203/01; G06F2203/013; G06F2203/014; G06F2203/015
Claims Analysis
Total Claims: 54
Claim 1
Independent Claim
169 words
A haptic feedback control device for inputting control signals to a computer and for outputting forces to a user of the control device, the control device comprising: a grip; a pair of moveable pincher members coupled to said grip and each contacted by a finger of said user when said device is operated, each of said pincher members being moveable in a degree of freedom, both of said degrees of freedom approximately within a single plane, wherein when a first one of said pincher members is moved, a second one of said pincher members is also moved approximately the same distance either towards or away from said first pincher member; an actuator coupled to said pair of pincher members, said actuator outputting a force on said pincher members in said degrees of freedom of said pincher members; and a sensor that detects a position of both said pincher members in said degree of freedom and outputs a sensor signal indicative of said position which is received by said computer.
Claim 2
Dependent Claim
169 words
A haptic feedback control device for inputting control signals to a computer and for outputting forces to a user of the control device, the control device comprising: a grip; a pair of moveable pincher members coupled to said grip and each contacted by a finger of said user when said device is operated, each of said pincher members being moveable in a degree of freedom, both of said degrees of freedom approximately within a single plane, wherein when a first one of said pincher members is moved, a second one of said pincher members is also moved approximately the same distance either towards or away from said first pincher member; an actuator coupled to said pair of pincher members, said actuator outputting a force on said pincher members in said degrees of freedom of said pincher members; and a sensor that detects a position of both said pincher members in said degree of freedom and outputs a sensor signal indicative of said position which is received by said computer.
Claim 3
Dependent Claim
24 words
A haptic feedback control device as recited in claim 1 wherein said pair of pincher members are both pivotally coupled to a third member.
Claim 4
Dependent Claim
38 words
A haptic feedback control device as recited in claim 2 wherein said actuator outputs a force in a linear direction, said linear force being converted to a rotary force that is applied to each of said pincher members.
Claim 5
Dependent Claim
22 words
A haptic feedback control device as recited in claim 2 wherein each of said pincher members is included in a 4-bar linkage.
Claim 6
Dependent Claim
43 words
A haptic feedback control device as recited in claim 4 wherein each of said pincher members is coupled to a ground by a link member, and wherein both of said pincher members are also coupled to a linear-moving member coupled to said actuator.
Claim 7
Dependent Claim
31 words
A haptic feedback control device as recited in claim 4 wherein each of said pincher members includes a finger pad for contacting a fingertip portion of a finger of said user.
Claim 8
Dependent Claim
26 words
A haptic feedback control device as recited in claim 4 wherein each of said pincher members is coupled to said third member by a link member.
Claim 9
Dependent Claim
43 words
A haptic feedback control device as recited in claim 7 wherein said third member has two ends, wherein said link members are coupled to a first one of said ends and said third member is rotated about a second one of said ends.
Claim 10
Dependent Claim
38 words
A haptic feedback control device as recited in claim 7 wherein said user operates said device by placing a thumb on one of said finger pads and a finger opposed to said thumb on said other finger pad.
Claim 11
Dependent Claim
23 words
A haptic feedback control device as recited in claim 1 further comprising a second actuator that outputs a vibration force on said grip.
Claim 12
Dependent Claim
67 words
A haptic feedback control device as recited in claim 1 wherein said haptic feedback control device further comprises: a housing that includes said grip, said housing having a moveable portion and a fixed portion, wherein said moveable portion is moveable with respect to said fixed portion; a second actuator coupled to said moveable portion, said second actuator outputting a force to cause said moveable portion to move.
Claim 13
Dependent Claim
23 words
A haptic feedback control device as recited in claim 11 further comprising a flexure coupled between said second actuator and said moveable portion.
Claim 14
Dependent Claim
25 words
A haptic feedback control device as recited in claim 12 wherein said actuator causes said moveable portion to vibrate with respect to said fixed portion.
Claim 15
Dependent Claim
66 words
A haptic feedback control device as recited in claim 1 wherein said control device is a master device in a telemanipulator system such that said grip is coupled to a linkage of a plurality of members to provide at least three degrees of freedom of motion to said control device, and wherein said computer controls a slave device in response to motion of said master device.
Claim 16
Dependent Claim
30 words
A haptic feedback control device as recited in claim 14 wherein said slave device includes an arm linkage and an opening/closing gripper, said gripper being controlled by said pincher members.
Claim 17
Dependent Claim
49 words
A haptic feedback control device as recited in claim 1 further comprising a roller coupled to said housing and operative to rotate about an axis, and a sensor coupled to said roller and operative to output a sensor signal indicative of a position of said roller about said axis.
Claim 18
Dependent Claim
138 words
A haptic feedback control device for inputting control signals to a computer and for outputting forces to a user of the control device, the control device comprising: a housing including a fixed portion and a moveable portion, wherein said user engages both said fixed portion and said moveable portion of said housing when using said device; a coupling coupled between said moveable portion and said fixed portion and allowing said moveable portion to move relative to said fixed portion in a direction parallel to an outer surface of said moveable portion, said portion of said outer surface being contacted by said user when said housing is grasped by said user; and an actuator coupled to said coupling, said actuator outputting a force on said coupling to cause said moveable portion to move with respect to said fixed portion.
Claim 19
Dependent Claim
138 words
A haptic feedback control device for inputting control signals to a computer and for outputting forces to a user of the control device, the control device comprising: a housing including a fixed portion and a moveable portion, wherein said user engages both said fixed portion and said moveable portion of said housing when using said device; a coupling coupled between said moveable portion and said fixed portion and allowing said moveable portion to move relative to said fixed portion in a direction parallel to an outer surface of said moveable portion, said portion of said outer surface being contacted by said user when said housing is grasped by said user; and an actuator coupled to said coupling, said actuator outputting a force on said coupling to cause said moveable portion to move with respect to said fixed portion.
Claim 20
Dependent Claim
16 words
A haptic feedback control device as recited in claim 17 wherein said coupling is a flexure.
Claim 21
Dependent Claim
24 words
A haptic feedback control device as recited in claim 18 wherein said actuator outputs an oscillating force to cause said moveable portion to vibrate.
Claim 22
Dependent Claim
43 words
A haptic feedback control device as recited in claim 19 wherein said flexure includes two flexure members, each of said flexure members coupled between said moveable portion and said fixed portion, and wherein said actuator outputs force on one of said flexure members.
Claim 23
Dependent Claim
32 words
A haptic feedback control device as recited in claim 17 wherein said moveable portion slides in shear with skin of a finger of said user contacting said surface of said moveable portion.
Claim 24
Dependent Claim
41 words
A haptic feedback control device as recited in claim 17 further comprising a control manipulable by said user and positioned with respect to said moveable portion such that said user feels said force on said moveable portion when operating said control.
Claim 25
Dependent Claim
23 words
A haptic feedback control device as recited in claim 22 wherein said control is fixed in position with reference to said moveable portion.
Claim 26
Dependent Claim
16 words
A haptic feedback control device as recited in claim 23 wherein said control is a button.
Claim 27
Dependent Claim
27 words
A haptic feedback control device as recited in claim 24 wherein said button is provided with force feedback in a degree of freedom using a button actuator.
Claim 28
Dependent Claim
41 words
A haptic feedback control device as recited in claim 23 wherein said control includes a first pincher member, and further comprising a second pincher member accessible to said user on a different side of said housing from said first pincher member.
Claim 29
Dependent Claim
45 words
A haptic feedback control device as recited in claim 26 wherein said first and second pincher members are moveable in a degree of freedom approximately within a single plane, wherein when one of said members is moved, the other of said members is also moved.
Claim 30
Dependent Claim
33 words
A haptic feedback control device as recited in claim 27 further comprising a second actuator coupled to said first and second pincher members, said second actuator outputting a force on said pincher members.
Claim 31
Dependent Claim
33 words
A haptic feedback control device as recited in claim 17 further comprising a sensor coupled to said housing and operative to detect motion of said moveable portion with respect to said fixed portion.
Claim 32
Dependent Claim
27 words
A haptic feedback control device as recited in claim 17 wherein said control device is a master device that controls a slave device in a telemanipulator system.
Claim 33
Dependent Claim
26 words
A haptic feedback control device as recited in claim 17 wherein said computer displays a graphical environment which with said user interacts using said control device.
Claim 34
Dependent Claim
26 words
A haptic feedback control device as recited in claim 31 wherein said haptic feedback control device is a game controller and said computer displays a game.
Claim 35
Dependent Claim
144 words
An interface device including haptic feedback and coupled to a host computer, the interface device comprising: a housing including a fixed portion and a moveable portion, wherein a user grips an outer surface of said housing when using said device; an engageable control operative to receive a user's finger through an opening in said moveable portion in said housing such that said moveable portion at least partially surrounds said engageable control, said engageable control outputting a signal when engaged by said user's finger, said signal being received by said host computer; and an actuator coupled to said housing and operative to output a force on said moveable portion of said housing to cause said moveable portion to vibrate with respect to said fixed portion of said housing such that said user engaging said control with said finger feels a shear vibration on said finger.
Claim 36
Dependent Claim
144 words
An interface device including haptic feedback and coupled to a host computer, the interface device comprising: a housing including a fixed portion and a moveable portion, wherein a user grips an outer surface of said housing when using said device; an engageable control operative to receive a user's finger through an opening in said moveable portion in said housing such that said moveable portion at least partially surrounds said engageable control, said engageable control outputting a signal when engaged by said user's finger, said signal being received by said host computer; and an actuator coupled to said housing and operative to output a force on said moveable portion of said housing to cause said moveable portion to vibrate with respect to said fixed portion of said housing such that said user engaging said control with said finger feels a shear vibration on said finger.
Claim 37
Dependent Claim
37 words
An interface device as recited in claim 33 wherein said engageable control is a finger pad operative to receive a user's finger through an opening in said housing, said finger pad being coupled to a moveable member.
Claim 38
Dependent Claim
35 words
An interface device as recited in claim 34 wherein said actuator is a first actuator, and further comprising a second actuator coupled to said housing and operative to output a force on said moveable member.
Claim 39
Dependent Claim
26 words
An interface device as recited in claim 33 wherein said engageable control is a button, wherein said signal is responsive to a state of said button.
Claim 40
Dependent Claim
20 words
An interface device as recited in claim 33 wherein said moveable portion of said housing completely surrounds said engageable control.
Claim 41
Dependent Claim
32 words
An interface device as recited in claim 33 further comprising a sensor coupled to said moveable member and operative to detect motion of said moveable member in a rotary degree of freedom.
Claim 42
Dependent Claim
47 words
An interface device as recited in claim 33 further comprising a roller coupled to said housing and operative to rotate about an axis, and a sensor coupled to said roller and operative to output a sensor signal indicative of a position of said roller about said axis.
Claim 43
Dependent Claim
25 words
An interface device as recited in claim 39 further comprising a roller actuator coupled to said roller, said roller actuator outputting forces on said roller.
Claim 44
Dependent Claim
37 words
An interface device as recited in claim 40 wherein said roller controls a wrist of a slave gripper, and wherein said forces on said roller provide a spring return force that allows rate control of said wrist.
Claim 45
Dependent Claim
62 words
An interface device as recited in claim 33 wherein said housing is coupled to a linkage providing at least three degrees of freedom to said interface device, wherein said computer controls a slave device in a telemanipulator system, said slave device being moved in response to manipulation of said interface device in said three degrees of freedom and on said finger pad.
Claim 46
Dependent Claim
60 words
An interface device as recited in claim 33 wherein said engageable control is a 4-directional controller pad having at least four directional buttons and operative to output a signal indicating a state of at least one of said directional buttons, and wherein said object controlled by said user and said different object are computer-generated objects displayed on a display screen.
Claim 47
Independent Claim
128 words
A method for controlling an object with a haptic feedback control device, the method comprising: outputting a control signal to a computer, said control signal including information describing a manipulation by a user of said haptic feedback control device, wherein said manipulation includes moving a finger pad of said control device in a degree of freedom such that said information in said control signal includes a representation of a position of said finger pad in said degree of freedom; and receiving haptic feedback signals from said computer, said haptic feedback signals including: information causing a force to be output on said finger pad in said degree of freedom, and information causing a vibration of a moveable portion of a housing of said control device surrounding said finger pad.
Claim 48
Independent Claim
128 words
A method for controlling an object with a haptic feedback control device, the method comprising: outputting a control signal to a computer, said control signal including information describing a manipulation by a user of said haptic feedback control device, wherein said manipulation includes moving a finger pad of said control device in a degree of freedom such that said information in said control signal includes a representation of a position of said finger pad in said degree of freedom; and receiving haptic feedback signals from said computer, said haptic feedback signals including: information causing a force to be output on said finger pad in said degree of freedom, and information causing a vibration of a moveable portion of a housing of said control device surrounding said finger pad.
Claim 49
Dependent Claim
28 words
A method as recited in claim 44 wherein said information causing said vibration is sent when said object controlled by said control device interacts with a different object.
Claim 50
Dependent Claim
35 words
A method as recited in claim 45 wherein said information causing said force to be output on said finger pad is sent when said object controlled by said control device interacts with a different object.
Claim 51
Dependent Claim
38 words
A method as recited in claim 46 wherein said object controlled by said user is a slave device in a telemanipulator system and said different object is a physical object in a physical environment of said slave device.
Claim 52
Dependent Claim
69 words
A method as recited in claim 47 wherein said manipulation by said user of said haptic feedback control device includes moving said control device in at least three degrees of freedom, wherein said control signal includes information representing a position of a said master device in said at least three degrees of freedom, wherein said computer moves said slave device in accordance with said position of said master device.
Claim 53
Dependent Claim
29 words
A method as recited in claim 44 wherein said vibration is output in a direction parallel to an outer surface of said moveable portion that surrounds said finger pad.
Claim 54
Dependent Claim
53 words
A method as recited in claim 44 wherein said finger pad is a first finger pad and further comprising a second finger pad moveable in a degree of freedom such that said first and second finger pads can be moved in a pincher movement either toward each other or away from each other.
References Cited (Backward Citations)
US3919691A
Cited
US3923166A
Cited
US4398889A
Cited
US4560983A
Cited
US4477043A
Cited
US4604016A
Cited
US4603284A
Cited
US4706294A
Cited
US5103404A
Cited
US4837734A
Cited
US4689449A
Cited
EP0265011A1
Cited
US4795296A
Cited
US4853874A
Cited
US4800721A
Cited
US5986643A
Cited
US4868549A
Cited
US4823634A
Cited
US5116180A
Cited
US5107262A
Cited
US5044956A
Cited
US4949119A
Cited
US5007300A
Cited
US4983901A
Cited
US5076517A
Cited
US5004391A
Cited
US5184319A
Cited
WO1992000559A1
Cited
US5197003A
Cited
US5193963A
Cited
US5781172A
Cited
US5223776A
Cited
US5354162A
Cited
US5203563A
Cited
US5341459A
Cited
US5146566A
Cited
US5185561A
Cited
US5186629A
Cited
US5235868A
Cited
US5414337A
Cited
US5220260A
Cited
US5889670A
Cited
US5381080A
Cited
US5589828A
Cited
US5512919A
Cited
US5189355A
Cited
US5399091A
Cited
US5313230A
Cited
US5296871A
Cited
US5264768A
Cited
US5286203A
Cited
US5666473A
Cited
US5790108A
Cited
US5389865A
Cited
US5629594A
Cited
US5769640A
Cited
US5355148A
Cited
EP0607580A1
Cited
EP0626634A2
Cited
US5396266A
Cited
US5405152A
Cited
US5513100A
Cited
US5929846A
Cited
US5739811A
Cited
US5576727A
Cited
US5734373A
Cited
US5805140A
Cited
US5587937A
Cited
US5577981A
Cited
US5709219A
Cited
WO1995020788A1
Cited
US5742278A
Cited
US5656901A
Cited
US5643087A
Cited
US6037927A
Cited
US5642469A
Cited
US5666138A
Cited
US5714978A
Cited
US5591082A
Cited
US5731804A
Cited
US5721566A
Cited
US5542672A
Cited
US5755577A
Cited
US5736978A
Cited
US5589854A
Cited
US5724106A
Cited
US5944151A
Cited
US5691898A
Cited
US5897437A
Cited
US5754023A
Cited
WO1997020305A1
Cited
US6028593A
Cited
WO1997031333A1
Cited
US5990869A
Cited
US6024576A
Cited
US5694013A
Cited
US5825308A
Cited
US6020876A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2004-02-06 | 2004-08-07 | 2005-02-06 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2008-02-06 | 2008-08-07 | 2009-02-06 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2012-02-06 | 2012-08-07 | 2013-02-06 | $7700.00 | Window Closed / Lapsed |