JP3084433U - Tactile mouse device - Google Patents

Abstract

(57) [Problem] To provide a low cost tactile feedback type mouse device. A mouse device (12) provides haptic feedback to a user to enhance interaction and manipulation in a graphical environment by a computer (14). The mouse device (12) includes a sensor device capable of detecting the movement of the mouse (12) on a flat work space. Mouse device (1
The actuator (18) connected to 2) applies an inertial force with a certain degree of freedom, preferably along an axis perpendicular to the working space, which is transmitted to the user via the housing. The actuator (8) linearly moves the inertial mass along the Z axis and outputs an inertial force. The output force correlates with the interaction between the controlled graphical object, such as a cursor, and other graphical objects in the graphical environment by the individual host computer. Inertia forces are pulse, vibration,
It may be a knitting force or another force.

Description

[Detailed description of the invention]

[0001]

[Background of the invention]

 The present invention relates to an interface device including a mouse and a positioning device for interfacing a human with a computer system. More specifically, the present invention relates to an interface device that allows a user to provide input to a computer system, and the computer system can provide a tactile force feedback to the user.

[0002] Users perform functions and tasks on a computer, such as playing games, experiencing simulations or virtual reality, using computer-aided design systems (CAD), and manipulating a graphical user interface (GUI). Can interact with the environment displayed by the computer. Common interface devices between humans and computers used for this interaction include mice, joysticks, trackballs, steering wheels, needles (stylus), tablets, pressure sensing balls, etc. This interface device is connected to a computer system that controls the displayed environment. In general, the computer updates the environment and provides visual or acoustic feedback to the user using a display screen or acoustic speakers in response to the operation of a physical operation means such as a joystick handle or a mouse by the user. The computer detects operation of the user object by the user by a sensor provided on the interface device and transmitting a position signal to the computer. For example, a computer displays a cursor or other graphical object in a graphical environment, and the position of the cursor is responsive to movement of the user object.

[0003] In some interface devices, force feedback or tactile feedback is provided to the user, which feedback is commonly known as "haptic feedback". This type of interface device can provide a physical sensation perceived by a user operating a user operating means on the interface device. One or more motors or actuators are connected to the joystick or mouse and are connected to a computer system for control. The computer system controls the forces associated with and corresponding to the displayed events and interactions acting on the joystick or mouse by sending control signals or commands to the actuator. As such, the computer system provides a physical force sensation associated with other provided feedback to the user while the user grasps or touches the interface or operating object of the interface device. Can be conveyed. For example, when a user moves an operable object and causes the displayed cursor to interact with another displayed graphical object, the computer instructs the actuator to output a force to the physical object. Output, and as a result, a sense of force is transmitted to the user.

[0004] One problem with current force-feedback controllers in the consumer market is that devices are expensive for consumers due to the high cost of manufacturing the devices. Most of the manufacturing costs are due to the fact that force-feedback devices include multiple actuators and their corresponding control electronics. Also, high-quality mechanical transmission components such as links and bearings must be provided to accurately transmit force from the actuator to the user's operating means and accurately detect the movement of the user object. These components are complex and need to be manufactured more precisely than many other components of the interface device, further increasing the cost of the device. Therefore, there is a need for a low-cost, force-feedback device that can provide users with a force feedback that enhances interaction with computer applications.

[0005]

[Outline of the invention]

 The present invention is a low-cost interface device connected to a computer system, which includes a simple actuator that realizes a low-cost force feedback for improving dialogue and operability in a displayed graphic environment. It relates to an interface device.

More specifically, the present invention relates to a force feedback type interface device connected to a host computer that executes a host application program. In one embodiment, the force feedback device is a mouse that is in physical contact with the user and is movable in a flat workspace. The mouse has a sensor device that detects the movement of the mouse in the flat work space and outputs a signal indicating the movement. The actuator is connected to the housing of the mouse and applies an inertial force with a certain degree of freedom, preferably substantially along an axis perpendicular to the flat working space, the inertial force being applied to the housing via the housing. It is communicated to the contacting user. Preferably, the actuator outputs the inertial force by moving the inertial mass. The actuator may be a linear actuator, such as a voice coil actuator, that moves the inertial mass in two directions along an axis substantially perpendicular to the flat workspace, and rotates the shaft to produce a substantially linear inertial force. It may be a rotary actuator that supplies pressure.

[0007] The output force is preferably correlated with the interaction of the controlled cursor with a graphical object or region in the graphical environment displayed by the host computer. The force may be a pulse, a vibration, a tactile force, or another type of force. A local microprocessor separate from the host computer can receive a host command from the host computer, output a force signal to the actuator to control the inertial force, and receive a sensor signal from the sensor. The sensor signal is processed, and position data indicating the movement of the mouse obtained from the sensor signal is reported to the host computer. The sensor device may include a ball that makes frictional contact with the lower surface of the mouse, and may include an optical mouse that detects relative movement of this surface relative to the mouse housing.

[0008] The present invention provides a haptic feedback device that is significantly less costly than other types of haptic feedback devices and is suitable for home consumers. It is sufficient to provide a single actuator that supplies a specific degree of freedom to the XY plane of the movement of the mouse, for example, an inertial force that is the Z axis. The crisp force can be output without interfering with the movement or control of the mouse in the XY plane, and the user's three-dimensional experience on the working surface of the mouse can be improved. Further, the actuator of the present invention may output other types of force sensations to enhance the user's interaction and experience with the computer application.

[0009] These and other features of the present invention will become apparent to those skilled in the art from a reading of the following detailed description of the invention and a review of the drawings shown in the drawings.

[0010]

[Detailed description of preferred embodiments]

 FIG. 1 is a perspective view of a haptic feedback mouse interface system 10 of the present invention, which can provide input to a host computer based on a user's operation of a mouse, and can provide input to the host computer. Provides haptic feedback to the user of the mouse system based on events that occur in the program executed by the mouse system. Mouse system 10 includes a mouse 12 and a host computer 14. As used herein, the term "mouse" is generally grasped or touched from above and configured to move within a substantially flat workspace (and, if possible, additional degrees of freedom). Is shown. Typically, a mouse is a smooth or angular, compact device that fits snugly into the user's hand, fingers and / or palm, but can also be used as a grip, cradle, cylinder, sphere, flat object, etc. You can also.

The mouse 12 is preferably one that is grasped, grasped, and operated by a user. "Gripping" means that a user can releasably engage a portion of an object with a method, such as with a fingertip. In the embodiment described herein, the mouse 12 is formed such that the user's finger or hand can comfortably grip the object and move it in physical space with a certain degree of freedom. For example, a user may move the mouse 12 to provide a two-dimensional input of a plane to a computer system, and move a computer-generated graphic object such as a cursor or other image within a graphic environment provided by the computer. And control virtual characters, cars and other things in games and simulations. Further, mouse 12 preferably includes one or more buttons 16a and 16b that allow a user to provide additional instructions to the computer system. Mouse 12 may further include additional buttons. For example, a thumb button can be included on one side of the housing of the mouse 12.

The mouse 12 preferably includes an actuator 18 operable to generate a force on the mouse 12. This operation is described in detail below with reference to FIG.

The mouse 12 is placed on a base surface 22 such as a table top or a mouse pad. The user grasps the mouse 12 and moves the mouse within the workspace on the flat base surface 22 as indicated by arrow 24. The mouse 12 can be moved anywhere on the base surface 22 or can be lifted and placed at different positions. In one embodiment, a friction ball and roller assembly (not shown) is provided under the mouse 12 to convert the planar motion of the mouse 12 into an electrical position signal, which is known to those skilled in the art. Thus, the data can be transmitted to the host computer 14 via the bus 20. In other embodiments, different mechanisms and / or electronics can be used to translate mouse movements into position or movement signals received by a host computer. The mouse 12 is preferably a relative device whose sensor detects a change in the position of the mouse, so that the mouse can be moved at any position and on any surface. An absolute mouse can also be used. In this absolute mouse, the absolute position of the mouse is known, but the mouse is typically confined to a specific, predefined workspace.

The mouse 12 is connected to a computer 14 by a bus 20. The bus carries signals between the mouse 12 and the computer 14 and supplies power to the mouse 12 in one preferred embodiment. Elements such as the actuator 18 require power, which can be supplied from a conventional serial port or through an interface such as a USB or Firewire bus. In other embodiments, signals may be sent between the mouse 12 and the computer 14 by wireless transmission / reception. In some embodiments, the actuator power is replenished and supplied independently by a power storage device provided on the mouse, such as a capacitor or one or more batteries. Some such embodiments are disclosed in US Pat. No. 5,691,898, the contents of which are incorporated herein by reference.

The host computer 14 is preferably a personal computer or workstation such as a PC compatible computer or a Macintosh personal computer, a Sun or Silicon Graphics workstation. For example, the computer 14 can operate on Windows (registered trademark), Mac OS, Unix, or MS-DOS operating system. Alternatively, the computer system 14 can be any of a variety of home video game console systems commonly connected to a television or other display, such as those available from Nintendo, Sega, and Sony. it can. In other embodiments, the host computer system 14 is used for the "set top box" used, for example, to provide users with interactive television capabilities, or for the Internet or the World Wide Web. It can be a "network computer" or "Internet computer" that allows users to interact with local or global networks using standard connections and protocols. The host computer includes a host microprocessor, read only memory (ROM), random access memory (RAM), input / output (I / O) circuits, and other computer elements known to those skilled in the art.

The host computer 14 preferably executes a host application program in which a user interacts with the mouse 12 via other suitable peripheral devices. The program may have force feedback functionality. For example, the host application program may output force feedback commands to the mouse 12 using a video game, word processor or spreadsheet, HTML or VRML instructions, scientific analysis program, virtual reality training program or application, or mouse 12 input. It can be a web page or a browser that runs other application programs. Here, for simplicity, an operation system such as Windows (registered trademark), MS-DOS, MacOS, Linux, Be, etc. is referred to as an “application program”. In one preferred embodiment, the application program utilizes a graphical user interface (GUI) to provide options to the user and receive input from the user. Here, computer 14 is referred to as providing a "graphic environment", which may be a graphic user interface, a game, a simulation, or other visual environment. This computer displays “graphic objects” and “computer objects”. These are not physical objects, but are collections of logical software units of data and / or procedures, which are displayed as images on the display screen 26 by the computer 14 as is well known to those skilled in the art. The displayed cursor and the mock cockpit of an airplane are graphic objects. The host application program checks the input signals received from the electronics and sensors of the mouse 12 and outputs force values and / or commands that are converted to force output for the mouse 12. . Suitable software drivers for interfacing such simulation software with computer input / output (I / O) equipment are available from Immersion Corporation of San Jose, California, USA.

Display device 26 can be included in host computer 14 and can be a standard display screen (LCD, CRT, flat panel, etc.), 3-D goggles, or other visual output device. Typically, the host application provides an image to be displayed on the display device 26 and / or other feedback such as an audible signal. For example, display screen 26 can display an image from a GUI.

As shown in FIG. 1, the host computer has its own “host flame” 28 displayed on a display screen 26. In contrast, mouse 12 has its own workspace or "local frame" 30 in which mouse 12 is moved. In the position control paradigm, the position (or change in position) of a user-controlled graphic object such as a cursor in the host coordinate system 28 is determined by the position (or change in position) of the mouse 12 in the local coordinate system 30. ). The offset between the object in the host coordinate system and the object in the local coordinate system can be different, for example, by lifting the mouse off the surface by indexing or moving the mouse but not changing the input to the host computer. Can be changed by user by placing on the place

In an alternative embodiment, the mouse can be a different interface or controller. For example, a handheld remote control device used to select the functions of a television receiver, video cassette recorder, sound stereo, Internet or network computer (eg, Web-TV (registered trademark)), a video game or computer. A game pad controller for a game can be used with the haptic feedback elements described herein. The handheld device is not tied to a planar workspace like a mouse, but can still benefit from the directed inertial sensation described herein. The directed inertial sensation is output, for example, vertically from the top of the device.

FIG. 2 is a side sectional view of the mouse 12 of FIG. Mouse 12 includes one or more actuators 18 for providing tactile feedback, such as tactile sensation, to a user of the mouse. The actuator outputs a force that can be felt by the user to the mouse 12.

In a preferred embodiment of the invention, the actuator is connected to a proof mass driven by the actuator. Also, the actuator is coupled to the mouse housing so that the inertial force generated by the motion of the inertial mass is applied to the mouse housing against the inertial mass (acting as an inertial ground), thereby providing a tactile sensation. Such tactile feedback can be conveyed to the mouse user touching the housing (as opposed to the usual method of empowering the user against the ground). Thus, the actuator does not move a portion of the housing directly to the user, but instead the moving mass creates an inertial force, which is transmitted indirectly to the user via the housing. Some design considerations for such an inertial grounded actuator system are described below.

The use of inertial mass as a grounding reference for generating tactile sensations on a cursor control interface has many limitations. First and most important, the magnitude of the force that can be output to the inertial surface is not as high as the force that can be output to the ground. Of course, the greater the mass, the greater the force that can be output, so the theoretical limit of the magnitude of the force is very high. However, for practical reasons, very large masses cannot be used in mice as inertial surfaces. The large mass makes the mouse device very heavy. Therefore, the amount of force output that can actually be applied is limited.

Since large forces cannot be applied through the inertial surface, they are compensated using high bandwidth actuators, ie, actuators that can output abrupt changes in force magnitude levels. It is desirable to do. Because the human hand is more sensitive to changes in force levels than absolute force levels, high-bandwidth actuators used to transmit low-level forces generated against inertial surfaces are inadvertently fishing. It is quite effective in producing compelling tactile sensations.

One means that can be used to generate a tactile sensation is a motor (or other actuator) having a rotating axis. Here, the inertial mass is connected to the rotating shaft at a position off the center of the inertial mass. The proof mass rotates about the motor rotation axis relative to the interface device at various speeds. This produces sinusoidal force signals at various frequencies, depending on the current driven through the motor. The problem with such a method is the slow response time. This is because the spinning mass must accelerate and decelerate over time to achieve a rotational speed corresponding to the desired frequency output. This means also applies a force in a continuously changing direction limited to the plane of rotation of the mass, giving a "wobble" sensation. This is especially confusing to the user at low frequencies. The technology of rotating eccentric inertial mass is greatly limited in its ability to output force sensations.

The preferred embodiment produces an inertial force directed at a particular degree of freedom, ie, along a particular axis. The inertial force can be generated, for example, using a high bandwidth linear actuator. Preferred actuators include a linear moving voice coil actuator and a linear moving magnetic actuator suitable for high band drive. Traditional servomotors used in harmonic drive configurations can also be suitable high-bandwidth actuators. This embodiment allows for high fidelity control of force sensations in both frequency and amplitude domains. This also allows the force to be directed along the desired axis, and also allows a clear tactile sensation that can independently modulate amplitude and frequency. Such a clear tactile sensation cannot typically be achieved using a rotating mass. The rotating mass gives an undirected inertial force to the rotating surface and creates a generalized wobble in the device.

With linear actuator means, it is important to consider the direction in which the force is applied to the housing of the mouse device relative to the inertial mass, ie the degree of freedom. If the significant component of the force is applied along one or more degrees of freedom (ie, the X or Y axis) in the mouse's movable plane with respect to the inertial mass, the short pulse will The mouse can be oscillated in one or both of the planar degrees of freedom. This reduces the user's ability to accurately guide a controlled graphical object, such as a cursor, to a predetermined target. Since the primary function of the mouse is accurate targeting, even a mild tactile sensation that distorts or diminishes target matching is undesirable. To solve this problem, the mouse device of the present invention applies an inertial force along a Z axis perpendicular to the X and Y axes in the plane of the mouse controller. In such a novel form, tactile sensations are added at a perceptually strong level to the user without diminishing the ability to accurately position the user-controlled graphical object on the X and Y axes. Further, because the tactile sensation is oriented in a third degree of freedom with respect to the two-dimensional mouse plane workspace and the display, a jolt or pulse can be applied along the Z-axis to a three-dimensional collision or divot. ) Is output to the user. This increases the realism of the tactile sensation and creates the most compelling interaction. For example, an upward pulse emitted when the cursor is moved over the edge of a window creates the illusion that the mouse is moving "over" a collision at the edge of the window.

Alternatively, directed inertial forces can be output along the X and Y axes in the plane workspace of the device, to prevent or reduce interference with the user's control of the device. Can compensate. One method of compensation is to actively filter a given jitter in the workspace, as disclosed in US Pat. No. 6,020,876. However, this measure makes the mouse device complicated and expensive.

In light of the above design factors, a preferred mouse embodiment, including a linear actuator, is shown in FIG. Mouse 12 includes housing 50, sensing system 52, and actuator 18. The housing 50 is shaped to fit the user's hand like a standard mouse, but the user moves the mouse in planar degrees of freedom and operates the buttons 16. Other housing shapes can be provided in many different embodiments.

The sensing system 52 detects the position of the mouse within its planar degrees of freedom, for example, along the X and Y axes. In the described embodiment, the sensing system 52 includes a standard mouse ball 54 that provides directional input to the computer system. The ball 45 is a sphere partially projecting from the bottom surface of the mouse, and rolls in a direction on the plane 22 corresponding to the movement of the mouse. For example, if the mouse 12 is moved in the direction indicated by the arrow 56 (y direction), the ball rotates at the same location in the direction indicated by the arrow 58. Ball movement can be tracked with a cylindrical roller 60 connected to a sensor 62 that detects mouse movement. A similar roller and sensor 28 can be used in the x direction perpendicular to the y axis.

In other embodiments, other types of mechanisms and / or electronics can be used to detect the planar movement of the mouse 12. For example, in one embodiment, a high frequency tactile sensation may be applied by an actuator that slides the mouse ball 45 against the frictionally engaged roller. The problem in this case is that the tactile sensation reduces the accuracy of the mouse. To solve this problem, a more preferred embodiment employs the actuator 18 in an optical mouse that does not move the mouse ball element. A suitable optical mouse technology has been developed by Hewlett Packard of Palo Alto, Calif., And can be suitably combined with the tactile sensation technology described herein. In this optical mouse technology, a number of images of a flat support surface are optically acquired and these images are compared with time to determine whether or not the mouse has moved. A sensor detects movement of the mouse with respect to the flat support surface. For example, Intellimouse Exploer or Intellimouse equipped with Microsoft Corporation's Intellieye device use this type of sensor. When using a local microprocessor (see Figure 4), the tactile elements can be controlled by the same local processor that controls the optical sensor technology, thereby reducing component costs (ie, It is not necessary to have one processor for optics and one for tactile feedback). Alternatively, a part of the optical sensor may be incorporated in the reference plane 22 in order to detect the position of the emitter or the transmitter of the mouse 12 and detect the position of the mouse 12 on the reference plane 2.

The actuator 18 is connected to a housing 50 for providing haptic feedback to a user. In the preferred embodiment, the actuator 18 has a fixed portion 66 connected to the housing 50 (the fixed portion 66 is fixed only to the housing of the mouse to which it is connected), and is substantially Z-axis. And a movable part 67 that moves linearly along the axis. In a preferred embodiment, the fixed part 66 comprises a movable part 67 comprising a magnet and a wire coil. The proof mass 64 is connected to a linearly movable part of the actuator. The actuator 18 functions to rapidly vibrate the proof mass 64 along an axis C that is substantially parallel to the Z axis. Thus, the force generated by the movable part 64 is transmitted to the housing via the fixed part 66 of the actuator and sensed by the user. These forces are substantially along the Z axis and therefore do not substantially interfere with the movement of the mouse along the X and Y axes.

The actuator 18 may be a linear voice coil actuator, as described with reference to FIG. In another embodiment, the fixed part may be a coil and the movable part may be a magnet. In other embodiments, the actuator 18 may be another type of actuator, and some of the other types of actuators that can be used in the present invention are illustrated in FIGS. 3 (A) through 3 (C). It will be described with reference to FIG. The actuator 18 can be located at various locations within the housing. For example, in one preferred embodiment, the actuator is located at the bottom of the housing and as close as possible to the center of the mouse in the X and Y axes to prevent the mouse from swinging when the actuator is actuated. Deploy. In other embodiments, the actuator 18 may be centered in one axis but offset with respect to the other axis to accommodate other electronic and mechanical components within the housing, for example, near the front or rear. It will be placed at the specified position. In still other embodiments, the actuator preferably outputs a force along the Z-axis (thus, the top is less than the side), although it may be connected to the side or top of the housing 50 instead of the bottom 68. preferable.). Various tactile sensations are output to the user, many of which are described in detail below with reference to FIG.

Another change in applying a tactile sensation to the mouse housing along the desired Z-axis is that the mouse is positioned on a table or other reference surface 22 so that the mouse is in the Z-axis. May be physically contacted along. In other words, for the inertial quantity, the force applied by the actuator 18 along the Z-axis is in the opposite direction to the normal force applied by the table surface to the mouse housing. One way to accommodate these forces is to use a flexible or semi-flexible surface on the underside of the mouse, such as a standard mouse pad. Such a flexible surface enhances the transfer of inertial force from the actuator to the housing. In another embodiment, the fixed portion 66 of the actuator 18 is connected to a portion of the housing different from the base or bottom 68 (eg, the side of the housing), and the portion connected to the actuator of the mouse housing and a reference surface. There is great flexibility between the base 22 and the base 68 in contact. For example, these two parts can be connected by a flexible hinge or connecting member. This also improves the transmission of tactile sensations, but a mouse pad may be used together to further enhance the transmission of force.

The button 16 can be selected by the user as a “command gesture” when the user desires to input a command signal to the host computer 14. The user 16 presses the button 16 down (for the degree of freedom of the button substantially along the Z-axis) and gives instructions to the host computer. When received by the host computer, the command signals can manipulate the graphical environment with various suns. In one embodiment, the electrical leads can be brought into contact with the sensor leads by any mechanical switch that determines the mere on or off state of the button. Other switches or other types of digital sensors may be provided to detect button presses. In other continuous range button embodiments, sensors may be used to detect the exact position of the button 16 in its range of motion (degrees of freedom). In some embodiments, one or more buttons 16 may be provided with force feedback (in addition to the inertial tactile feedback from actuator 18) in the degrees of freedom of the buttons.

FIG. 3A is a schematic diagram of an embodiment 80 of an actuator 18 suitable for use with the present invention. Actuator 80 is a low cost, low power component that is suitable for use in the present invention because of its high bandwidth and narrow range of movement. The actuator 80 is a voice coil actuator including a magnet unit 82 (the fixed unit 66) and a bobbin 84 (the movable unit 67). The magnet 82 is grounded, and the bobbin 84 is movable relative to the movable part 67. In another embodiment, the bobbin 84 may be grounded and the magnet unit 82 may be movable. The magnet section 82 includes a housing 88 made of a metal such as iron, and a pole piece 92 disposed on the magnet 90. The magnet 90 provides a magnetic field 94 using a metal housing 88 as a flux return path. Pole Piece 88 The pole piece 88 concentrates the magnetic flux in the gap between the pole piece 92 and the housing 88. The length of the pole piece 92 is set to the illustrated L _P. The housing 88, the magnet unit 82, and the bobbin 84 are preferably formed in a cylindrical shape, but may have other shapes in other embodiments.

The bobbin 84 moves linearly with respect to the magnet section 82. The bobbin 84 includes a support member 96 and a coil 98 attached to the support member 96. The coil 98 is preferably wound around a support member 96 to form a continuous loop. As shown in FIG. 3, the length of the coil 98 is set to _Lc . As bobbin 84 moves, coil 98 moves past magnetic field 94. A current I flows through the coil 98 to the electrical connection member 99. As is well known to those skilled in the art, the current I flowing through the coil 98 produces a magnetic field. The magnetic field generated by the coil 98 interacts with a magnetic field 94 generated by the magnet 90 to generate a force. The magnitude or strength of this force depends on the strength of the current and magnetic field flowing through the coil 98. Similarly, the direction of the force depends on the direction of the current flowing through the coil 98. Preferably, the proof mass 64 is coupled to the bobbin 84 and moves linearly with the coil. Manipulation of forces using magnetic fields and means thereof are well known to those skilled in the art. One example of a voice coil actuator is described in U.S. Pat. No. 5,805,140, which is incorporated herein by reference.

The length L _{C of the} coil 98 and the length L _P of the pole piece 92 can be adjusted as needed. For example, when the stroke of the bobbin 84 is long and a constant force is output within the linear movement range of the bobbin 84, the length L _C of the coil 98 is equal to the length L _{P of the} pole piece 92. It is set to about two to three times. However, in most embodiments, the stroke of the bobbin 84 is preferably short, and the length L _C of the coil 98 is set approximately equal to or equal to the length L _P of the pole piece 92.

FIG. 3B is a perspective view of another actuator 70. The actuator 70 is provided with a rotating shaft 72 that rotates by one for several rotations. An arm 73 is connected to the shaft 72, and the arm 73 is substantially perpendicular to the rotation axis of the shaft 72. The inertial mass 74 is connected to the other end of the arm 73. When the shaft 72 vibrates, a pulse or vibration is transmitted from the inertial mass to the mouse housing. The vibration of the proof mass 74 along the direction 75 is substantially along the Z-axis and is therefore not present in the XY plane of mouse movement. The actuator shown may be an electric core and a magnet actuator, and may be provided with two fixed coils 71 as shown in the figure in order to further increase the tactile sensation, thereby saving space. If so, only one coil may be provided. In other movable magnet embodiments, the magnet may move linearly in rotation.

FIG. 3C is a perspective view of another type of actuator 76 that can be used as the actuator 18 of the present invention. A mobile phone pager motor 77 or other actuator with a rotating shaft is shown. The actuator plug 78 is provided with a high-pitch female screw which is compatible with a pin 79 protruding from the side of the shaft of the mobile phone motor 77 into which the catheter enters, thereby forming a low-cost feed screw. As the shaft rotates, the pins 79 move the plug 78 up and down along the Z-axis, and as the shaft oscillates, the plug 78 acts as an inertial mass (or is coupled to the inertial mass 64) to provide the proper tactile sensation. Sensation is provided to the mouse.

In other embodiments, other types of actuators can be used. For example, it is possible to use a solenoid having a vertically welled portion as a linear actuator. Linear voice magnet, DC controlled linear motor, linear stepping motor controlled by pulse width modulation of applied voltage, pneumatic / hydraulic actuator, torquer (motor with limited angle range), etc. can be used. . A rotary actuator that outputs torque to the degree of freedom of rotation of the shaft may be used, and the transmission may convert the torque to linear force and travel, as is well known to those skilled in the art.

FIG. 4 shows one embodiment of the force feedback system of the present invention comprising a local microprocessor 110 and a host computer 14.

The host computer 14 preferably includes a host microprocessor 100, a system clock 102, a display device 26, and an audio output device 104. The host computer 14 also includes other known components such as a random access memory (RAM), a read only memory (ROM), and input / output (I / O) electronic components (not shown). . The display device 26 displays images such as images, game environments, operating system applications, and simulations. The sound output device 104 is a speaker or the like, and is connected to the host microprocessor 100 via other circuit elements known to those skilled in the art such as an amplifier and a filter. When an “acoustic event” occurs, an audio output is provided to the user. Other peripheral devices such as storage devices (hard disk drives, CD-ROM drives, floppy disk drives, etc.), printers, other input devices, output devices, and the like may be connected to the host microprocessor 100.

The mouse 12 is connected to a host computer system 14 via a bidirectional bus 20. The bidirectional bus 20 transmits signals bidirectionally between the host computer system 14 and the interface device. The bidirectional bus 20 includes an RS232 serial interface, RS-422, USB, musical instrument digital interface (MIDI) or other products known to those skilled in the art, a parallel bus, wireless connection, and the like. Can be used. For example, the USB standard provides a relatively high-speed serial interface that can also supply power to the actuator 18.

The mouse 12 has a local microprocessor 110. The local microprocessor 110 is housed in a housing of the mouse 12 so that it can efficiently communicate with other parts of the mouse 12. Local microprocessor 110 is "local" with respect to mouse 12, "local" means that local microprocessor 110 is a separate processor from any processor in host computer 14. “Local” means that the local microprocessor 110 is used for tactile feedback and input / output of a sensor of the mouse 12. The local microprocessor 110 includes software instructions that wait for instructions or requests from the host computer 14, demodulate these instructions or requests, and process / control input and output signals in response to the instructions or requests. Also, the local microprocessor 110 operates independently of the host computer 14, reads sensor signals, and applies an appropriate force from the stored or relayed commands selected according to the sensor signals, the time signal, and the host command. calculate. Microprocessors suitable for use as local microprocessor 110 include, for example, Motorola MC68HC711E9, Microchip PIC16C74, and Intel Corp.'s 82930AX. The local microprocessor 110 may be comprised of one microprocessor chip, multiple processors and / or multiple chips for co-processing, and / or digital signal processor (DSP) capabilities.

The local microprocessor 110 receives signals from the plurality of sensors 112 and supplies signals to the actuator 18 in accordance with a command supplied from the host computer 14 via the bus 20. For example, in one embodiment of local control, the host computer 14 provides a high level monitoring instruction to the local microprocessor 110 via the bus 20 and the local microprocessor 110 decodes the instruction and And monitors a low level force control loop for sensor 112 and actuator 18 independently of host computer 14 based on this command. This operation is described in further detail in U.S. Patent Nos. 5,739,811 and 5,734,373, both of which are incorporated by reference. In the host control loop, a force command is output from the host computer 14 to the microprocessor 110, which commands the local microprocessor 110 to output a force or force sensation having particular characteristics. The local microprocessor 110 transmits data such as position data indicating the position of the mouse 12 in one or more degrees of freedom to the host computer 14. This data may indicate the state of button 16 and safety switch 132. The host computer 14 uses the data to update a running program. In the local control loop, actuator signals are provided from the local microprocessor 110 to the actuator 18, and sensor signals are provided from the sensor 112 and other input devices 118 to the local microprocessor 110. Here, the term "tactile sensation" is output by the actuator 18 and includes both a single force and a plurality of continuous forces that provide a sensation to the user. For example, vibration, single impact or spring force are all included in this tactile sensation. The local microprocessor 110 transmits the sensor signals to the host computer 14 using the appropriate force determinations output to the user object and the position data obtained from the sensor signals.

In other embodiments, other hardware that provides functions similar to those of the local microprocessor 110 may be provided in the mouse 12. Using a hardware device incorporating certain logic to supply signals to the actuators 18, receive signals from the sensors 112, and output force signals according to a predetermined sequence, algorithm or process. Can be. Techniques for executing logic having a desired function in hardware are well known to those skilled in the art. Such hardware is more suitable for reducing the complexity of a force feedback device such as the device of the present invention.

In a different embodiment of the host control, the host computer 14 provides a low-level force command via the bus 20, which is transmitted directly to the actuator 18 via the microprocessor 110 or other circuitry. You. Accordingly, the host computer 14 directly controls and processes all signals transmitted to and from the mouse 12. For example, host computer 14 directly controls the force output by actuator 18 and directly receives signals from sensors 112 and input device 118. In the case of this embodiment, it is not necessary to provide the local microprocessor 110 and other processing circuits in the mouse 12, so that it is preferable to further reduce the cost of the force feedback type device. Further, since a single actuator can be used without providing a force for the initially sensed degree of freedom, the local microprocessor 110 in the present invention can provide the desired characteristic force in order to provide the desired characteristic force. There is no need to perform control.

In the simplest host control embodiment, the signal from the host computer to the device is a one-bit signal indicating whether to output a pulse to the actuator at a predetermined frequency and intensity. In a more complex embodiment, the signal from the host computer includes the intensity and the given length of the desired pulse. In a more complex embodiment, the signal includes both direction and the given intensity and sensation of the pulse. In more complex embodiments, the local processor can be used to receive only a single command from the host computer that indicates the desired force value applied over time. Next, the microprocessor outputs a force value for a specific period based on one command, thereby reducing the communication load that needs to be performed between the host computer and the device. In an even more complex embodiment, high-level instructions with tactile sensation parameters may be sent to the device's local processor, where the instructions may apply maximum sensation independent of host interference. it can. In the case of this embodiment, the communication load is reduced to the maximum. Finally, multiple methods described above can be used in combination for a single mouse device 12.

Connecting a local memory 122 such as RAM and / or ROM to the local microprocessor 110 of the mouse 12 for storing instructions to the local microprocessor 110 and for storing temporary data and other data Is preferred. For example, a series of stored force values output by the local microprocessor 110 and a force profile such as a look-up table of force values output based on the current position of the user object are stored in the local memory 122. You. Further, similarly to the system clock 102 of the host computer 14, a local clock 124 for supplying timing data may be connected to the local microprocessor 110. The timing data is needed to calculate the force output by the actuator 18, for example, if the force depends on the calculated speed or other time-related factors. When a USB connection interface is used, the timing data of the local microprocessor 110 can be extracted from the USB signal.

The host computer 14 may output, for example, a “spatial representation” to the local microprocessor 110. This spatial display is data indicating the positions of some or all of the graphic objects displayed on the GUI or other graphic environment, and these positions are related to the force and the type / characteristics of the graphic objects. The local microprocessor 110 can store such a spatial representation in the local memory 122 so that, independently of the host computer 14, the interaction of the user object with graphical objects such as fixed surfaces. Can be determined. Also, independently of the host computer 14, in order to confirm the reading of the sensor, the determination of the cursor and the target position, and the determination of the output force, the host computer 14 may supply necessary instructions or data to the local microprocessor 110. good. The host computer 14 can execute program functions (such as displaying images) as appropriate, and in order to modify the processes of the local microprocessor 110 and the host computer 14, a synchronization command between the local microprocessor 110 and the host computer 14 is issued. Can communicate. In addition, the local memory 122 can store a predetermined force sensation associated with the type of image object for the local microprocessor 110. Alternatively, the host computer 14 may directly transmit a force feedback signal to the mouse 12 to generate a signal acting on the button 16.

The sensor 112 senses the position or movement of the mouse 12 (eg, the housing 50) in the degree of freedom of the plane, and supplies a signal including information indicating the position or movement to the local microprocessor 110 (or the host computer 14). I do. Suitable sensors for detecting the planar movement of the mouse 12 include a digital optical encoder frictionally connected to a rotating ball or cylinder, as is well known to those skilled in the art. Linear sensor systems, linear optical encoders, potential meters, optical sensors, velocity sensors, acceleration sensors, strain gauges or other types of sensors can be used, whether relative or absolute. May be. As is well known to those skilled in the art, an optical sensor interface 114 may be provided for converting the sensor signal into a signal that can be translated by the local microprocessor 110 and / or the host computer 14 into machine language. .

As described with reference to FIG. 2, in response to receiving signals from the local microprocessor 110 and / or the host computer 14, the actuator transmits a force to the mouse housing 50. Actuator 18 is provided to generate an inertial force that causes the inertial mass to move, and in a preferred embodiment, the inertial mass moves linearly approximately perpendicular to the plane of freedom of mouse movement. , The actuator 18 does not generate a force in the main freedom of movement of the mouse 12. Instead, the actuator 18 generates a "informational" or "effect" force that does not resist or assist movement. The sensor 112 detects the position / movement of the mouse 12 in its own freedom of movement, but this detection is substantially independent of the force output to the actuator 18.

The actuator described herein can apply a short duration force sensation to the handle of the mouse, relative to the inertial mass. This short-duration force sensation is called a pulse. Ideally, the "pulse" is oriented substantially along the Z-axis orthogonal to the XY plane in which the mouse moves. In a more advanced embodiment, the intensity of the "pulse" can be controlled, the sensation of the "pulse" can be controlled, and can be either positively or negatively biased, A “periodic force sensation” may be applied to the mouse hand, in which case the periodic force sensation may have a strength and frequency, for example, as a sine wave. The periodic force sensation can be selected from sine, square, rising sawtooth, falling sawtooth, and triangular, giving the periodic signal an envelope and Or a "shock wave shape" as described in US Pat. No. 5,959,613. There are two methods for transmitting a periodic sense from the host computer to the device. U.S. Pat. No. 5,959,613 describes a waveform that is "flushed" from a host computer to a device. Alternatively, as described in US Pat. No. 5,734,373, the waveform may be transmitted by high-level instructions that include parameters such as intensity, frequency, and duration.

In other embodiments, additional actuators may be employed to provide a tactile sensation or force in the mouse 12 with flat degrees of freedom. For example, secondary actuators can enhance mouse function. That is, the secondary means may be passive (ie, dissipate energy) because of the force constraints. The passive actuator may be a brake employing a very low power material such as a magnet-rheological fluid. Alternatively, the passive actuator may be a general magnetic brake. Passive braking may be employed with a friction joint between the mouse housing and the table surface 22. For example, a friction roller at the base of the mouse housing may be engaged with the table surface. This roller rotates freely as the mouse moves, unless a passive brake is engaged. When the brake is engaged, the user feels passive resistance (one or two degrees of freedom) when moving the mouse. The passive resistance can add a tactile sensation that assists the "pulse" and "vibration" sensations described above (described with respect to FIG. 5).

An actuator interface 116 may be provided between the actuator 18 and the local microprocessor 110 to convert a signal from the local microprocessor 110 into a signal for appropriately driving the actuator 18. The interface 116 for the actuator may include power amplifiers, switches, digital-to-analog controllers (DACs), analog-to-digital controllers (ADCs), and other components, as is well known to those skilled in the art.

The mouse 12 is provided with another input device 118 for transmitting an input signal to the local microprocessor 110 or the host computer 14 when operated by a user. Such an input device 118 includes the buttons 16 and may include additional buttons, dials, switches, scroll wheels, and other control means or mechanisms.

In order to supply power to the actuator 18, an interface 116 for the actuator and / or a power supply 120 connected to the actuator 18 may be provided in the mouse 12. Alternatively, more preferably, the power may be supplied from a power supply provided separately from the mouse 12, or the power may be supplied via a USB or other bus. The supplied power may be stored and adjusted by the mouse 12, and may be used when it is necessary to drive the actuator 18, or may be used supplementarily. Due to the limited power supply capability of the USB, a power storage device is provided in the mouse device to ensure maximum force application (as described in US Pat. No. 5,929,607). May need to be. For example, the power may be stored in a capacitor or battery and released at once to exert a jolt sensation on the button 16. In one embodiment, the battery is charged by a generator mounted on the mouse, which is driven by the user moving the mouse device. For example, a friction roller or shaft connected to a generator by a mouse ball or cylinder and recharging the generator can be rotated.

[0058] A safety switch 132 may be provided so that the user cannot use the actuator 18 for safety. For example, while the mouse 12 is operating and the actuator 18 is enabled, the user must enable or close the safety switch 132. If the safety switch 32 is disabled (opened) at any time, the power supply from the power supply 120 to the actuator 18 is cut off as long as the safety switch 120 is opened, and the actuator 18 is disabled. Become. The safety switch 120 includes an optical switch, an electric contact switch, a button or a trigger, a safety switch for sensing the weight of a hand, and the like.

FIG. 5 is a schematic view of the screen of the display device 26 of the host computer 15 displaying the GUI used in the present invention, and the user can interact using the device of the present invention. It is a kind of graphic environment. The tactile feedback mouse 12 of the present invention provides a tactile sensation that makes the interaction with the graphical object more interesting and more intuitive. The user generally controls the cursor 146 to select graphical objects and information on the GUI. The cursor 146 moves according to the position control program, and the position of the cursor 146 corresponds to the position of the mouse 12 on the flat work space. Windows 150 and 152 display information from the host program running on host computer 14. After a menu title, such as start button 155, is selected, the user can select menu item 156 of menu 154. Icons 156, 160, 161 and web link 162 also display selectable features. The tactile sensations associated with these graphic objects are output to the actuator 18 based on signals output from a local microprocessor or host computer.

The basic tactile correlation required for the mouse device described here is as follows: (a) when the cursor moves between the menu elements 156 of the menu 154; , Buttons, hyperlinks 162, or other graphical targets, (c) the cursor crosses the boundaries of windows 150, 152, or (d) the cursor is a flowchart node, a drawing point, Or a "pulse" (or sensation of shock) that is output when moving over an application program specific element in a software title such as a spreadsheet cell. The sensations are rapid and sudden “pulses” or “pops.” For example, one or several movements of the inertial mass can be obtained by applying a modest, short-time force between the inertial mass and the housing of the mouse device, eg, the pulse quickly rises to the desired intensity. With a single force impact followed by a rapid extinction or decay to zero or low strength.

A vibration may be output, which consists of a series of pulses that are output periodically at a particular frequency over a long period of time. A sine wave, a square wave, a sawtooth wave, or a force having other waveforms and a time-varying force may be output according to a time waveform. This vibration is generated by the longitudinal vibration of the inertial mass 64.

In some embodiments, a “spatial texture” sensation may be output by correlating pulses and / or vibrations with movement of a cursor over an image object or region. This type of force depends on the position of the mouse (or the position of the cursor in the graphical user interface) on a flat workspace. For example, a cursor can be dragged over a graphical grid and the pulses can be correlated to the space of this grid. Thus, the texture bump depends on whether or not the cursor has moved over the bump of the graphic object. That is, no force is output when the mouse is positioned between the "bumps" of the weave, but is output when the mouse is positioned over the bump. Such force output can be provided by a host control (eg, the host computer sends a pulse when the cursor is dragged over the grid) or a local control (eg, the host computer can send high-level commands containing weaving parameters). Is transmitted, and the sense is directly controlled by the mouse device.) In other cases, weaving may be performed by applying vibration to the user, which vibration depends on the current speed of the mouse on a flat workspace. There is no vibration when the mouse is present, but the faster the mouse moves, the higher the frequency and intensity of the vibration. This sensation is controlled locally by the mouse processor or by the host computer. In some embodiments, communication load can be reduced by performing local control with a mouse device. Other spatial force sensations may be output. In addition, any of the above-described force sensations can be output simultaneously by the actuator 18, or the above-described combination of forces can be output.

The host computer 14 can reconcile the weaving sensation with interactions or events that occur within the host application. Individual menu elements 156 in a menu can be associated with a force. In one interaction, a “pulse” sensation is applied when the cursor moves across the menu element 156 of the menu 154 of the graphical user interface. Some menus may be more intense than others in order to indicate importance or frequency of use. That is, the most used menu choices can be associated with higher intensity (stronger) pulses than the less used menu choices. Further, in order to indicate that the menu cannot be selected for use at that time, a pulse whose selection of the desired menu is weaker may be output, or the pulse may not be output. Furthermore, for example, in the case of a tiled menu in which a submenu is displayed after a specific menu element is selected, such as Microsoft Windows (registered trademark), a pulse sensation is generated when the submenu is displayed. May be sent. Such a pulse-like transmission is very useful because the user may not expect a submenu to be displayed when the cursor moves over a menu element.

A pulse sensation may be output based on the interaction between the cursor 146 and the window. For example, a pulse may be output when the cursor moves beyond the boundaries of windows 150 and 152 to signal the user of the position of the cursor. As the cursor 146 moves through the boundaries of the window, a weave force sensation may be output. The weave may be a series of bumps spatially arranged in the window area in a predetermined pattern. That is, when the cursor moves on the selected bump area, the pulse sensation is output when the cursor moves on the selected pulse point or line. The pulse may be output when the cursor moves on a selectable object such as the link 154 or the icon 156 in the displayed web page. Vibration may be output to indicate the graphical object on which the cursor is currently located. Furthermore, the characteristics of the document displayed in the windows 150 and 152 may be associated with the force sensation.

Another interaction, a pulse sensation, is output when the cursor moves over icons 156, folders, hyperlinks 162, or other graphical targets. The sensations associated with some elements can be stronger than others, to indicate importance or simply to distinguish different elements. For example, you can associate an icon with a pulse stronger than a folder and a folder with a stronger pulse than an item on the toolbar. Also, the intensity of the pulse can be associated with the display size of the graphic element, and a large toolbar icon can be associated with a stronger pulse than a small toolbar icon. This is of particular interest on web pages, where small graphic targets can be associated with weaker pulses than large graphic targets. Also, depending on the strength of the pulse, check boxes and hyperlinks can be made to feel different from buttons and graphic elements on a web page. Such as active windows that are distinguished from background windows, file folder icons at different locations specified by the user, game icons that are distinct from business application icons, and different menu items in drop menus. The pulse intensity may depend on the characteristics of other graphical objects. A method of adding a weaving feel to a web page is described in U.S. Patent No. 5,956,484.

In other interactions, when a document is being scrolled, a particular region or feature of the page being scrolled may be indicated by a particular area of the window to indicate the passage of a page break or other break. A pulse sensation may be used when passing through the area. A related weave sensation may use a vibrate sensation to indicate movement as the document is scrolled. The frequency of vibration can be used to indicate the speed of scrolling, with faster scrolling being correlated with higher frequency perception than slower scrolling.

In another related scrolling interaction, the mouse device may show a vibration when the down arrow is pressed on the scroll bar to indicate that scrolling is in progress. When using the graphics slider, a pulse may be used to indicate that the graphics slider has reached the preferred end. When using a slide bar with a “tick mark”, a pulse sensation can be used to indicate the position of the “tick”. Some slide bars have a single tech mark at the center of the slide bar and a pulse is output to inform the user when the center is reached. In other slide bars, there are different sized ticks (for example, the middle tick is more important than the other ticks). In such embodiments, pulses of different intensities are used, with stronger pulses indicating more important ticks. For example, a slider with a tech mark is used when setting the balance of the system acoustic speaker. By providing an associated pulse, the user can sense the tick of the present invention, and in particular, the center tick indicating central balance.

A pulse can be supplied for volume control. In another example, vibration intensity can be correlated to volume control to indicate volume. In yet another example, the frequency of the vibration can be correlated with the volume control adjustment to indicate volume.

In another interaction, when a graphic object in a graphic user interface such as an icon is dragged, or when an element such as a line is extended, the function is activated to indicate that the function is active. Vibration sensation can be used.

When a user performs a function such as cutting or pasting a document, a delay in processing or other delay causes a delay between the pressing of a button instructing the function and the execution of the function. There may be a delay. A pulse sensation can be used to indicate that the function (cut or paste) has been performed.

A particular event that can or cannot be controlled by the user can be associated with a weave sensation. For example, when an e-mail is received or an appointment reminder is displayed, a pulse or vibration can be output to notify the user of the event. This feature is particularly useful for users with disabilities (eg, impaired vision or hearing). When an error message or other system event is displayed in a dialog box on the host computer, a pulse or vibration can be used to draw the user's attention to that system event. If the host system is “thinking” and requires the user to wait while the function is being executed or accessed (usually the time is displayed on the host computer), the completion of the function is often unexpected. . When the user looks away from the screen, the user may not notice that the function is complete. A pulse sensation can be sent to indicate that this “thinking” has ended. The tactile sensations can be changed to indicate different types of events or different events of the same type. For example, different events or events with different characteristics, such as sending an email by a particular user, prioritizing events, or starting and ending a particular task (eg, downloading documents or data over a network). Variations in frequency can be used to distinguish.

A large number of tactile sensations can be correlated with interactions and events that occur in a particular application. For example, in a gaming application, a wide range of periodic sensations can be used to enhance the quality of actions and events in the game, such as engine vibration, weapon firing, destruction and collision, rough roads, explosions, and the like. As described in US Pat. No. 5,961,898, these sensations can be performed as a reflex of the button.

In spreadsheet applications, the pulse sensation can be used to indicate that the cursor has moved from one element or cell to another. Stronger pulses can be used to indicate that a particular or predetermined row, column, or cell has been reached. Ideally, a user creating a spreadsheet can specify sensory intensity as part of the spreadsheet construction process, as well as assigning specific features to pulses of a specific intensity.

In a word processor, pulse sensations can be output so that the user can perceive boundaries between words, spaces between words, spaces between lines, punctuation, highlights, bold, or other notable elements. it can. When adjusting the tab space in a word processor, a pulse can be used to indicate the adjustment of a tab mark on a graphic. A stronger pulse can be used for a space of a certain multiple. In a word processor, when describing the outline in which the paragraph hierarchy is inserted, a pulse can be output to indicate that the cursor is at a particular outline in the desired hierarchy.

In drawing applications where the user can place colored pixels using a “spray can” analogue, the “spray can” analogue may be used to make the spray can analogue more attractive to the user. Vibration can be output during the "spray" process. The drawing or CAD program can be used to determine the displayed (visible) grids or dots, the control points of the object being drawn, the contours or boundaries of the object, and other pulse sensations and other sensations associated with other sensations. It may have many features.

In a web page, the amount of pulses and vibrations is increased to enhance the user's experience with web objects such as web page links, entry text boxes, graphic buttons, and images. Can be used. The application of such quantities is described in U.S. Pat. No. 5,956,484.

It may be that the user wants to be able to turn pulse feedback on and off for certain features. For example, when a character is added to a word in a word processor, when the cursor moves from character to character along the word, it is useful to be able to detect the added character by a pulse. However, this feeling is not always desired by the user. Therefore, it is preferable that this feeling can be enabled or disabled by software selecting means such as a check box and / or hardware selecting means such as pressing a mouse button. In other cases or embodiments, features may be enabled or disabled depending on the speed at which the mouse moves. For example, if the user is moving the cursor across the displayed desktop very quickly, the user has probably not attempted to select a graphical object along the path of the cursor. In this case, it hinders the cursor from passing over the boundaries of icons and windows. Therefore, when traveling above the threshold speed, the host software (or software / firmware running by the local microprocessor) preferably weakens or eliminates the pulses. Conversely, when the user is slowly moving the cursor, it is likely trying to select or engage a graphic target. Thus, in this case, the pulse is validated or enhanced to a higher intensity.

The software designer can access the software functions by placing the cursor over an area of the screen and pressing a mouse button (typically referred to as a “click”). (Performing a function in a manner). At present, since the user physically confirms the execution when pressing the button, there is a problem in the "click-less" execution. The pulse sent to the tactile mouse of the present invention can function as a physical confirmation without requiring the user to press a button. For example, a user can position a cursor over an element of a web page and, once the cursor has been placed in a desired area for a predetermined amount of time, perform a related function. This execution is indicated to the user by a tactile pulse sent to the mouse.

If a second actuator, such as the low power brake described in connection with FIG. 4 is used to assist the primary actuator 18, the passive resistance provided by this brake will be the “pulse” described above. Additional tactile sensations can be added to assist the senses of "" and "vibration". For example, when the user drags the icon, the passive resistance provides the user with a sense of drag (attenuation). Dragging a large object (displayed size or other measurable feature) adds more resistance. Also, when the user stretches the image, the passive resistance can provide a sense of drag. Dragging a large object adds more resistance. Both active and passive tactile sensations can be used jointly. For example, active feedback is useful for slowing down the movement of the mouse when selecting a menu item, but active feedback can only be output when the user moves the mouse, so active feedback is It is effective to output when is stopped or moving slowly. Embodiments employing passive brakes also employ the "desired play" principle described in US Pat. No. 5,767,839, incorporated by reference, to enhance functionality. can do.

Although the invention has been described with reference to various embodiments, modifications, substitutions, and equivalents will be apparent to one of ordinary skill in the art upon reading the specification and examining the drawings. For example, the actuator of the present invention may provide other different types of tactile sensations. Furthermore, certain terms are used for clarity of explanation and do not limit the present invention. Therefore, the above-mentioned modifications, substitutions and equivalents are within the spirit and scope of the present invention and are included in the claims of the utility model registration.

[Brief description of the drawings]

FIG. 1 is a perspective view of a mouse connected to a host computer according to an embodiment of the present invention.

FIG. 2 is a side sectional view of FIG. 1;

3A is a diagram showing another type of actuator suitable for use in the present invention, FIG. 3B is a diagram showing another type of actuator suitable for use in the present invention, and FIG. FIG. 3 illustrates another type of actuator suitable for use in the present invention.

FIG. 4 is a block diagram of a mouse and a host computer according to the present invention.

FIG. 5 is a schematic view of a display screen displaying a graphic object related to the output of a force sensation using the mouse of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Mouse interface system 12 Mouse 14 Host computer 16a, 16b Button 18 Actuator 20 Bus 22 Reference surface 50 Housing 52 Detection system 54 Mouse ball 60 Cylindrical roller 62 Sensor 64 Inertial mass 66 Fixed part 67 Movable part 68 Bottom part 80 Actuator 82 Magnet part 84 bobbin 88 housing 90 magnet 94 magnetic field 70 actuator 71 fixed coil 72 shaft 73 arm 74 inertial mass 76 actuator 146 cursor 156, 160, 161 icon 162 web link

Claims (51)

[Utility model registration claims] 1. A tactile feedback mouse connected to a host computer that executes a host application program and operated by a user on a flat work space, comprising a housing that physically contacts and moves with the user. A sensor device connected to the mouse housing for detecting movement of the mouse on the flat work space and outputting a signal representing the movement; and an inertial force with respect to an inertial ground connected to the mouse housing. An actuator output substantially along an axis perpendicular to the flat working space, the inertial force oscillating the inertial mass relative to the housing along the axis. And the inertial force is transmitted to a user in contact with the housing through the housing, Feeling feedback type mouse. 2. The actuator of claim 1, wherein the actuator is a linear actuator having a movable part that moves linearly with respect to a non-movable part of the actuator, the linear actuator being substantially perpendicular to the flat working space. 2. The method of claim 1, wherein the inertial mass is moved in two directions along a linear axis.
2. A tactile feedback mouse according to claim 1. 3. The mouse according to claim 1, wherein the actuator is a rotary actuator that rotates a shaft. 4. The rotary actuator according to claim 3, wherein the rotary actuator moves the inertial mass substantially linearly by rotating the inertial mass in two directions at a fraction of one rotation of the shaft. Tactile feedback type mouse. 5. The apparatus according to claim 1, wherein the inertial force is correlated with an image display by the host computer, and a position of the mouse in the flat work space corresponds to a position of a cursor displayed on the image display. Tactile feedback type mouse. 6. The tactile feedback type according to claim 1, wherein the inertial force is a pulse correlated with an interaction between a graphic object displayed on a graphic interface by the host computer and a cursor controlled by a user. mouse of. 7. The tactile feedback mouse according to claim 6, wherein the pulse is output with an intensity that depends on characteristics of a graphic object with which the cursor interacts. 8. The tactile feedback mouse according to claim 7, wherein the characteristic of the graphic object is a type of the graphic object, and the type includes one of an icon, a window, and a menu item. 9. The tactile feedback mouse according to claim 7, wherein the pulse is output when the cursor moves between menu items in a displayed graphic menu. 10. The tactile feedback mouse according to claim 1, wherein the force is included in a force sensation, and the force sensation is one of a pulse, a vibration, and a tactile force. 11. A microprocessor separate from the host computer and connected to the sensor and the actuator, the microprocessor being capable of receiving host commands from the host computer and controlling the inertial force. Outputting a force signal to the actuator, receiving a sensor signal from the sensor, processing the sensor signal, and reporting position data indicating the movement of the mouse obtained from the sensor signal to the host computer. The tactile feedback mouse according to claim 1, 12. The tactile feedback mouse according to claim 1, wherein the actuator outputs the force in response to a command received by the mouse from the host computer. 13. The tactile feedback mouse according to claim 1, wherein the sensor device includes a ball that makes frictional contact with a surface on which the mouse is moved by the user. 14. The tactile feedback mouse according to claim 1, wherein the sensor device includes an optical sensor that detects a relative movement of a surface on which the mouse moves with respect to the mouse. 15. The tactile feedback mouse according to claim 1, wherein the actuator is disposed in the housing. 16. The tactile feedback mouse according to claim 15, wherein a flexible member is provided between a part of the housing contacted by the user and a reference plane on which the mouse moves. 17. The tactile feedback mouse according to claim 16, wherein the flexible member includes a flexible pad resting on the reference surface, and the mouse housing moves on the flexible pad. 18. The tactile sensation of claim 16, wherein the flexible member comprises a flexible connection member connecting a portion of the housing connected to the actuator and a portion of the housing that contacts the reference surface. Feedback type mouse. 19. The tactile feedback mouse according to claim 1, wherein the inertial force is a periodic force sensation having a frequency. 20. The tactile feedback mouse according to claim 19, wherein the periodic force sensation has an intensity identifiable by a host computer. 21. The mouse of claim 19, wherein the periodic force sensation is provided by one of a sine wave control signal and a square wave signal. 22. The tactile feedback mouse according to claim 1, wherein the series of force values output as the peripheral force sensation are sent from the host computer to the tactile feedback mouse. 23. The apparatus according to claim 1, further comprising a force storage device connected to the actuator, wherein the force storage device stores a force, and outputs the force to the actuator when the force is suitable for outputting the inertial force. Mouse with tactile feedback. 24. A haptic feedback interface device connected to a host computer executing a graphic environment and operated by a user, the movable object being in physical contact with and moving with the user; A sensor device connected to the movable object, for detecting the movement of the movable object on a flat work space, and outputting a signal representing the movement; and a sensor device connected to the movable object of the haptic feedback interface device, An actuator that outputs an inertial force along a substantially vertical degree of freedom, wherein the inertial force is generated by a substantially linear oscillating mass vibration along the degree of freedom with respect to the housing. The inertial force is transmitted through the movable object A haptic feedback interface device, wherein the inertial force is transmitted to a user in contact with a movable object, and the inertial force is correlated with an interaction between a user controlled graphical object and a different graphical object displayed in the graphical environment. 25. The haptic feedback interface device according to claim 24, wherein the movable object is a mouse, the mouse moves on a flat work space, and the actuator is connected to a housing of the mouse. 26. The haptic feedback interface device according to claim 25, wherein the actuator moves the proof mass in two directions along a linear axis substantially perpendicular to the flat workspace. 27. The haptic feedback interface device according to claim 26, wherein the linear actuator is a voice coil actuator. 28. The graphical object controlled by the user is a cursor, and the inertial force is a pulse correlated with the interaction of the cursor with a different graphical object displayed in the graphical environment. A haptic feedback interface device according to claim 1. 29. The haptic feedback interface device according to claim 28, wherein the pulse is output when the cursor moves between menu items displayed in a graphic environment. 30. The inertial force is included in a force sensation, wherein the force sensation is one of a pulse, a vibration, and a tactile sensation.
A haptic feedback interface device according to claim 24. 31. A microprocessor separate from the host computer and connected to the sensor and the actuator, the microprocessor being capable of receiving host commands from the host computer and controlling the inertial force. Output a force signal to the actuator, receive a sensor signal from the sensor, process the sensor signal, and transmit position data indicating the movement of the movable object obtained from the sensor signal to the host computer. The haptic feedback interface device of claim 24, wherein said haptic feedback interface device reports. 32. The haptic feedback interface device according to claim 31, wherein the sensor device includes an optical sensor that detects a relative movement of a surface on which the movable object moves with respect to the movable object. 33. The haptic feedback interface device according to claim 26, wherein the actuator is located within the housing. 34. The haptic feedback interface device according to claim 33, wherein a flexible member is provided between a part of the housing contacted by the user and a reference plane on which the mouse moves. 35. The apparatus of claim 34, wherein the flexible member comprises a flexible pad resting on the reference surface, and wherein the mouse housing moves on the flexible pad.
A haptic feedback interface device according to claim 4. 36. The haptic of claim 34, wherein the flexible member comprises a flexible connection member that connects a portion of the housing connected to the actuator and a portion of the housing that contacts the reference surface. Feedback interface device. 37. The haptic feedback interface device according to claim 26, wherein the actuator is a linear actuator including a movable part that moves linearly with respect to a non-movable part of the actuator. 38. The actuator according to claim 24, wherein the actuator is a rotary actuator that outputs a torque, and the torque linearly moves the inertial mass in a fraction of one rotation.
A haptic feedback interface device according to claim 1. 39. The haptic feedback interface device according to claim 26, wherein the inertial force is a periodic force sensation. 40. The haptic feedback interface device of claim 39, wherein at least one of frequency and intensity of the periodic force sensation is identifiable by the host computer. 41. The haptic feedback interface device according to claim 39, wherein the periodic force sensation is provided by one of a sine wave control signal and a square wave signal. 42. A tactile feedback mouse connected to a host computer executing a graphic environment and operated by a user on a flat work space, wherein the housing is in physical contact with and moved by the user. A sensor device connected to the mouse housing, for detecting the movement of the mouse on the flat work space, and outputting a signal indicating the movement; and a sensor device connected to the mouse housing for the flat work space. An actuator for applying an oscillating force to the housing along an axis that is substantially perpendicular to the housing, the oscillating force being applied to an inertial mass that functions as an inertial ground, wherein the oscillating force is applied through the housing. A tactile feedback mouse that is transmitted to a user in contact with the housing. 43. The actuator is a linear actuator having a movable part that moves linearly with respect to a non-movable part of the actuator, the linear actuator being substantially perpendicular to the flat working space. 5. The method according to claim 4, wherein the inertial mass is moved in two directions along a linear axis.
3. The tactile feedback mouse according to 2. 44. The rotary actuator for rotating a shaft, wherein the rotary actuator rotates the inertial mass in two directions at a fraction of one rotation of the shaft to reduce the inertial mass. 43. The tactile feedback mouse according to claim 42, wherein the mouse moves substantially linearly. 45. The tactile feedback type according to claim 42, wherein the inertial force is a pulse correlated with an interaction between a graphical object displayed on a graphical interface by the host computer and a cursor controlled by a user. mouse of. 46. The tactile feedback mouse according to claim 42, wherein the pulse is output with an intensity that depends on characteristics of a graphic object with which the cursor interacts. 47. The tactile feedback mouse according to claim 42, wherein the force is included in a force sensation, and the force sensation is one of a pulse, a vibration, and a hand tactile force. 48. A microprocessor separate from the host computer and connected to the sensor and the actuator, the microprocessor being capable of receiving host commands from the host computer and controlling the inertial force. Outputting a force signal to the actuator, receiving a sensor signal from the sensor, processing the sensor signal, and reporting position data indicating the movement of the mouse obtained from the sensor signal to the host computer. 43. The tactile feedback mouse according to claim 42. 49. The tactile feedback mouse of claim 42, wherein the actuator is located within the housing. 50. The tactile feedback mouse according to claim 49, wherein a flexible member is provided between a part of the housing contacted by the user and a reference plane on which the mouse moves. 51. The tactile feedback mouse according to claim 42, wherein the series of force values output as the peripheral force sensation are sent from the host computer to the tactile feedback mouse.