EP1430283A2 - Detecteur combine de position et de couple - Google Patents

Detecteur combine de position et de couple

Info

Publication number
EP1430283A2
EP1430283A2 EP02774626A EP02774626A EP1430283A2 EP 1430283 A2 EP1430283 A2 EP 1430283A2 EP 02774626 A EP02774626 A EP 02774626A EP 02774626 A EP02774626 A EP 02774626A EP 1430283 A2 EP1430283 A2 EP 1430283A2
Authority
EP
European Patent Office
Prior art keywords
input device
force
sensor
torque sensor
dimensional position
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP02774626A
Other languages
German (de)
English (en)
Inventor
Bernd Gombert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
3DConnexion GmbH
Original Assignee
3DConnexion GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 3DConnexion GmbH filed Critical 3DConnexion GmbH
Priority to EP04024860A priority Critical patent/EP1517263A3/fr
Publication of EP1430283A2 publication Critical patent/EP1430283A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
    • G06F3/03547—Touch pads, in which fingers can move on a surface
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
    • G06F3/03543—Mice or pucks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
    • G06F3/03549—Trackballs

Definitions

  • the present invention relates to an input device in which a position sensor is combined with a force / torque sensor.
  • the general background of the present invention is the control of real or virtual objects, such as computers, electronic or electrical devices, the control signals being triggered by position sensors or force / torque sensors.
  • a position sensor is a device that detects the position and / or the relative movement of the device with respect to a reference point.
  • a force / torque sensor is a device that detects and evaluates the forces and torques acting on a control panel of the force / torque sensor.
  • Input devices with position sensors which generate control signals for virtual or real objects depending on the position of the input device and more precisely depending on the relative movement of the input device with respect to a base or a support are known from the prior art. They allow intuitive and interactive control, for example of a cursor on a screen surface. Examples of such position input devices are the computer mouse, the touchpad and the trackball. The computer mouse is the most widely used input device. The basic features of this include the housing with a flat base and a structure that allows operation with one hand, one or more buttons on the top, a device for detecting the movement on the bottom and a cable or an air interface Data transfer to a computer. With such position input devices, the detection of the movement with respect to the base or with respect to a carrier, for example
  • the so-called touchpad is a flat rectangular tablet that uses touch-sensitive sensors to track the position of a device on the tablet surface.
  • the so-called trackball consists of a ball that is supported on two rollers. The rollers are arranged at right angles to each other and convert a movement the ball in vertical and horizontal movements on the screen usually it has one or more buttons to trigger other actions
  • the input devices mentioned are well suited for position control.
  • the path is not a measure of an applied force.Therefore, forces applied to the device cannot be recorded. Even less initiated torques can be recorded, since a rotation of the input device usually does not lead to any control signal.
  • force / torque sensors are known from the prior art, which provide output signals with respect to a force / torque vector acting on them and thus output signals with respect to different degrees of freedom.They allow intuitive control of real and virtual objects in up to 6 degrees of freedom (e.g. three translational ones and three rotary degrees of freedom) Switches, rotary knobs etc. are provided, which are permanently assigned to the force / torque sensor.
  • DE 199 52 560 AI discloses a method for adjusting and / or adjusting a seat of a motor vehicle using a multifunctional, manually operated input device with a force / moment sensor. Such a force / torque sensor is shown in FIG. 6 of DE 199 52 560 AI. To this extent, reference is made to this figure and the associated description for DE 199 52 560 AI with regard to the technical details of such a sensor.
  • DE 199 52 560 AI points out the input device has a user interface on which a number of areas are provided for inputting at least one pressure pulse. The input device has a device for evaluating and recognizing a pressure pulse detected by means of the force-Z torque sensor and converted into a force and moment vector pair.
  • the selected device can then be controlled linearly by means of an analog signal from the force-Z torque sensor.
  • the selection of a function and the subsequent control are thus separated into two separate processes
  • an object-specific control operation and a technical function can be activated by switching to an activation state is triggered or ended again by switching to a deactivation state
  • the known force / torque sensors have an operating part which is movably mounted in three axes with respect to a base part, for example by means of springs or the like.
  • the range of motion in each axis is usually limited to a few millimeters.
  • the object of the present invention is to propose an input device for controlling real or virtual objects which avoids the disadvantages mentioned above
  • position and force Z torque sensor is integrated in one device. This makes it possible, for example, to move to a specific position with the position sensor and then to output force and / or torque-dependent control signals there
  • the input device for controlling virtual and / or real objects has a two-dimensional position sensor and a force / torque sensor which detects the forces and torques acting on an operating part of the force / moment sensor two-dimensional position sensor and Z or the force Z torque sensor
  • the two-dimensional position sensor built into the input device detects the position of the input device with respect to the base by means of a device for detecting the direction of movement (usually a sphere)
  • the position can be detected optically
  • a curved configuration of the housing of the input device is particularly advantageous.
  • the device has two support surfaces with which it rests on a support during operation.
  • the two-dimensional position sensor is integrated in one of these support surfaces.
  • the control unit of the force / moment sensor is attached to the underside of the arc-shaped housing of the input device.
  • the force / moment sensor can therefore only be manipulated with the fingertips of the user's hand, thereby avoiding excessive stress on the force / moment sensor
  • the palm of the user can rest comfortably on the housing.
  • the input device can have the shape of a conventional computer mouse or be round or oval.
  • the force / moment sensor is integrated on the top and the position sensor on the bottom , optomechanical or mechanical way
  • the force / torque sensor can alternatively be integrated on the side
  • a force-Z torque sensor can be docked on the top or side.
  • the position sensor and force-Z torque sensor form a physical unit in this state, the assembled device can be operated with one hand
  • the two-dimensional position sensor is integrated in the top of the control panel of the force torque sensor
  • the two-dimensional position sensor can be implemented either with a touchpad or with a spherical element. If a touchpad is used, moving and moving the finger on the pad records and evaluates the two-dimensional position information. In the case of the spherical element (trackball), its rotation is detected Regarding the control panel of the force-Z torque sensor recorded and used as two-dimensional position information
  • control unit of the force-Z torque sensor can move freely on the two-dimensional position sensor.
  • the two-dimensional position sensor is implemented by a touchpad. The movement of the control unit of the force-Z torque sensor on the touchpad is recorded and used as two-dimensional position information
  • FIG. 1 shows an input device according to the invention, in which a position sensor is integrated in the support surface and the force
  • FIG. 2 shows an input device in the form of a conventional computer mouse
  • FIG. 3 shows a further input device which has the form of a conventional computer mouse
  • FIG. 4 shows an input device in which the position sensor is integrated in the upper side of the operating part of the force / torque sensor
  • the housing of the input device 4 is essentially arc-shaped.As a result, the input device 4 has two support surfaces 7, 8 with which it rests on a base 6. On the underside of one of these support surfaces, in the case shown, the support surface 7 , a two-dimensional position sensor 1 is integrated. It detects relative movements and thus the position of the input device 4 with respect to the base 6. This detection can take place optically, optomechanically or mechanically
  • the force-torque sensor 2 is attached to the underside 9 of the arcuate input device 4. It has an operating part 5 which is movably mounted in several axes with respect to the housing of the input device 4. This special, protected attachment of the operating part 5 is only possible with the fingertips can be manipulated by the hand of the user, whereby mechanical overloading can advantageously be avoided.
  • Force-Z torque sensors pose a risk that they can be moved as far as the stop by placing the palm of the hand on the hand and are therefore no longer operable
  • the force-torque sensor 2 detects the effects of forces and torques on the control unit 5 by means of the relative movement of the control unit 4 in three axes relative to the housing of the input device 4. While using the input device 4, the palm of the user can comfortably be on the top 3 of the housing of the input device 4 rest
  • control signals of the position sensor 1 and the force / torque sensor 2 can be passed on to a computer, electronic or electrical device by means of a cable 11 or an air interface (IR, electromagnetic such as according to the Bluetooth standard, etc.)
  • the input device 4 has the shape of a conventional computer mouse.
  • the force / torque sensor 2 is attached to the top of the housing of a conventional computer mouse Control printing, pulling or rotating While using the input device 4, the palm of the user can rest comfortably on the housing 3
  • FIG. 3 shows a modification of the exemplary embodiment from FIG. 2 in such a way that the Kradt torque sensor 2 is arranged on the front side of the housing of a computer mouse 3, which in turn has the advantage that it is manipulated with the fingertips during normal handling of the computer mouse
  • the two-dimensional position sensor 1 is integrated in the control element 5 of the force-Z torque sensor 2.
  • the two-dimensional position sensor 1 can either be implemented by means of a touchpad or, as shown, by a trackball 10.
  • the position control signals are thus generated in the operating part 5 of the force-Z torque sensor and forwarded to the base part 12 of the force-Z torque sensor
  • the two-dimensional position sensor 2 can be connected to the force-moment sensor 2 and more precisely to the base part 12 of the force-moment sensor 2 to form a physical unit by means of a releasable connection, which is schematically designated by 13

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Input By Displaying (AREA)
  • Input From Keyboards Or The Like (AREA)
  • Control Of Position Or Direction (AREA)
  • Numerical Control (AREA)

Abstract

L'invention concerne un appareil d'entrée (4) destiné à la commande d'ordinateurs ou d'appareils électroniques ou électriques présentant un détecteur de position bidimensionnel (1) et un détecteur de force/couple (2) détectant, sur un élément de serveur (5) du détecteur de force/couple (2), les forces et les couples de rotation agissants. Par manipulation manuelle de l'appareil d'entrée (4), des signaux de commande peuvent être déclenchés par le détecteur de position bidimensionnel (1) et/ou le détecteur de force/couple.
EP02774626A 2001-09-21 2002-09-18 Detecteur combine de position et de couple Withdrawn EP1430283A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP04024860A EP1517263A3 (fr) 2001-09-21 2002-09-18 Detecteur combine de position et de couple

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10146473A DE10146473A1 (de) 2001-09-21 2001-09-21 Kombinierter Positions-/Kraftmomentensensor
DE10146473 2001-09-21
PCT/EP2002/010473 WO2003028003A2 (fr) 2001-09-21 2002-09-18 Detecteur combine de position et de couple

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP04024860A Division EP1517263A3 (fr) 2001-09-21 2002-09-18 Detecteur combine de position et de couple
EP04024860.1 Division-Into 2004-10-19

Publications (1)

Publication Number Publication Date
EP1430283A2 true EP1430283A2 (fr) 2004-06-23

Family

ID=7699734

Family Applications (2)

Application Number Title Priority Date Filing Date
EP04024860A Withdrawn EP1517263A3 (fr) 2001-09-21 2002-09-18 Detecteur combine de position et de couple
EP02774626A Withdrawn EP1430283A2 (fr) 2001-09-21 2002-09-18 Detecteur combine de position et de couple

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP04024860A Withdrawn EP1517263A3 (fr) 2001-09-21 2002-09-18 Detecteur combine de position et de couple

Country Status (5)

Country Link
US (1) US20040243724A1 (fr)
EP (2) EP1517263A3 (fr)
AU (1) AU2002340914A1 (fr)
DE (1) DE10146473A1 (fr)
WO (1) WO2003028003A2 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB0417683D0 (en) * 2004-08-09 2004-09-08 C13 Ltd Sensor
CN101978363A (zh) * 2007-11-15 2011-02-16 尔格瓦克斯有限责任公司 马达驱动鼠标

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4811608A (en) * 1985-12-18 1989-03-14 Spatial Systems Pty Limited Force and torque converter
US5296871A (en) * 1992-07-27 1994-03-22 Paley W Bradford Three-dimensional mouse with tactile feedback
US5355147A (en) * 1993-10-04 1994-10-11 Donald Lear Ergonomic computer mouse
DE4400790A1 (de) * 1993-11-10 1995-05-18 Johannes Dipl Ing Geisen Vorrichtung und/oder Verfahren zur Kommunikation mit DV-Anlagen bzw. Bedienungsvorrichtungen
JP3381344B2 (ja) * 1993-11-15 2003-02-24 ヤマハ株式会社 座標入力装置
US5473344A (en) * 1994-01-06 1995-12-05 Microsoft Corporation 3-D cursor positioning device
US5751275A (en) * 1994-11-14 1998-05-12 Bullister; Edward T. Two-- and three--dimensional trackball with coordinate transformations
US5798748A (en) * 1995-06-07 1998-08-25 Spacetec Imc Corporation Force and torque converter with improved digital optical sensing circuitry
US5771038A (en) * 1995-08-09 1998-06-23 Primax Electronics Ltd. Control device for display state change on monitor
US5854622A (en) * 1997-01-17 1998-12-29 Brannon; Daniel J. Joystick apparatus for measuring handle movement with six degrees of freedom
US6707443B2 (en) * 1998-06-23 2004-03-16 Immersion Corporation Haptic trackball device
JP3909994B2 (ja) * 2000-02-29 2007-04-25 アルプス電気株式会社 入力装置
US6489948B1 (en) * 2000-04-20 2002-12-03 Benny Chi Wah Lau Computer mouse having multiple cursor positioning inputs and method of operation

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO03028003A2 *

Also Published As

Publication number Publication date
DE10146473A1 (de) 2003-04-17
WO2003028003A2 (fr) 2003-04-03
AU2002340914A1 (en) 2003-04-07
EP1517263A3 (fr) 2008-01-23
EP1517263A2 (fr) 2005-03-23
WO2003028003A3 (fr) 2004-03-25
US20040243724A1 (en) 2004-12-02

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