JP3078485U - Tactile feedback interface device and actuator assembly - Google Patents

Abstract

(57) [Problem] To provide a low-cost tactile feedback interface device in which inertia force and contact force are supplied to a user. A tactile feedback interface device provides a user with a tactile sensation. The user contacts the housing 50, and the sensor 62 detects an operation by the user. The actuator assembly 54 includes an actuator 66 that outputs force as a tactile sensation to the user.
Is provided. The actuator 66 outputs a rotational force, and the flexure 68 connected to the actuator 66 drives the inertial mass and / or the contact member. The flexure 68 is a single member and includes a plurality of flexure joints that move a portion of the flexure 68 substantially linearly. The flexure 68 converts the rotational force output from the actuator 66 into a linear motion, and the force is transmitted to the user by the linear motion.

Description

[Detailed description of the invention]

[0001]

[Technical field to which the invention belongs]

 The present invention relates to an interface device for enabling a human to interface with a computer, and in particular, a user can provide input to a computer system, and a computer system provides tactile feedback to the user. Low cost computer interface device.

[0002]

[Problems to be solved by conventional techniques and devices]

 Functions and tasks on a computer or device, such as playing a game, experiencing a simulation or virtual reality environment, using a computer-aided design system, manipulating a graphical user interface (GUI), navigating web pages, selecting functions, etc. The user can interact with the computer or device to perform the task. Typical human-computer interface devices used for this type of interaction include mice, joysticks, trackballs, gamepads, steering wheels, connected to computer systems that control the displayed environment. Includes stylus, tablet, pressure sensing ball, select function, etc. Generally, a computer updates an environment in response to a user's operation of a physical operation means (manipulandum) such as a joystick, a mouse, or the like, and provides a visual display to a user using a display and an acoustic speaker. And acoustic feedback. The computer system detects a user operation on a user object by a sensor provided in an interface device that transmits a position signal to the computer.

[0003] Some interface devices also provide athletic feedback and / or tactile feedback to the user. These feedbacks are collectively referred to as “haptic feedback”. This type of interface device can provide a physical sensation that can be sensed by the user operating the user operating means of the interface device, such as a joystick handle, mouse, wheel, or the like. One or more motors or other actuators are connected to the joystick handle or mouse and to a controlling computer system. The computer system controls the forces acting on the joystick or mouse in relation to and in response to the displayed event and interacts by sending control signals or commands to the actuator. Thus, when the user is gripping or touching the interface device or the operating means of the interface device, the computer system can convey a sense of physical force to the user along with other supplied feedback. it can. For example, when a user moves an operable object and causes a displayed cursor to interact with another displayed graphical object, the computer instructs the actuator to output a force to the physical object. Can be emitted, whereby the user can feel or be transmitted.

[0004] One problem with current tactile feedback controllers in the home consumer market is the high cost of manufacturing such devices. Most of the manufacturing costs are due to the fact that the tactile feedback device includes multiple complex actuators and corresponding control electronics. In order to accurately transmit the force from the actuator to the user's operation means and to accurately detect the movement of the object by the user, high-quality mechanical force transmission components such as links and bearings are required. Need to be provided. These components are complex and require much more precision in their manufacture than other components, further increasing the cost of the interface device.

[0005] For example, low-cost tactile feedback such as a console game system such as Sony DualShock and Nintendo Rumble Pack, and a vibrating tactile gamepad used in personal computers. There are several devices. These devices generate a tactile sensation by including a motor having a rotating shaft and an inertial mass connected eccentrically to the rotating shaft. The inertial mass rotates at various speeds around the rotating shaft of the motor relative to the interface device. This rotation produces sinusoidal force signals of various frequencies according to the current flowing through the motor. The problem with this type of method is that the response time is slow because of the time required to accelerate and decelerate to reach the rotational speed corresponding to the desired frequency output. In addition, since this means applies a force that changes direction continuously on the rotational plane of the inertial mass, it gives a "wobbly" feeling. This is not particularly problematic for the user at low frequencies, but in many cases the input is supplied in a plane that partially overlaps the plane on which the force acts, such as a mouse. Not suitable for use with sensitive equipment.

[0006]

[Outline of the invention]

 The present invention relates to an actuator assembly having an assembly for providing a tactile sensation to a user, and a tactile feedback interface device. Low cost actuators and mechanisms provide inertial and / or contact forces to the user, which can produce low cost force feedback devices.

More specifically, the tactile feedback interface device of the present invention is operated by a user and connected to a host computer that executes a host application program. The tactile feedback interface device includes a housing that is physically touched by a user, a sensor that detects operation of the tactile feedback interface device by the user, and an actuator assembly that supplies force to the user as a tactile sensation. ing.

In one embodiment, an actuator assembly includes an actuator that outputs rotational force and a flexure that connects the actuator to a housing of a tactile feedback interface device. The flexible body is a single member, and includes a plurality of flexible joints that move a part of the flexible body substantially linearly. The flexure converts the rotational force output by the actuator into a linear motion, and generates a force transmitted to the user by the linear motion. The linear movement is substantially along an axis perpendicular to the flat workspace in which the tactile feedback interface device is moved by the user. A part of the flexure is connected to the inertial mass so that the inertial mass moves linearly when the actuator outputs torque, and the inertial force due to the inertial mass is transmitted to the user through the housing of the tactile feedback interface device. Is reached.

In another embodiment, an actuator assembly includes an actuator that outputs a force and a mechanism that couples the actuator to a housing of the tactile feedback interface device, the mechanism moving the actuator relative to the housing of the device. . In motion, the actuator functions as an inertial mass that supplies the inertial force transmitted to the user. The above mechanism is a mechanism having a flexible body or a bearing having a flexible joint, and the actuator outputs a rotational force. The actuator moves linearly in a Z-axis direction that is substantially perpendicular to an XY plane in which the user can move the operating means of the tactile feedback interface device.

[0010] In some embodiments, the mechanism or flexure is coupled to a movable contact member that is physically contacted by a user during normal operation of the tactile feedback interface device. For example, the contact member is a movable cover portion that is at least a part of the upper surface of the tactile feedback interface device. The actuator operates in two directions to provide a force that generates a pulse or vibration sensation to the user. The flexure may include at least one stop for preventing the rotation shaft of the actuator from rotating beyond a predetermined range of the maximum rotation range.

The present invention provides a tactile feedback interface device that is much less costly than other types of feedback interface devices and is well suited for application to home consumers. One or more actuator assemblies of the present invention can be provided to apply a force in a particular degree of freedom, such as in a Z-axis direction perpendicular to the support surface. The flexure used in some embodiments provides a long lasting and effective tactile sensation, and in some embodiments the actuator itself is used as the inertial mass for the tactile sensation in the inertial force, Cost, space and assembly time can be saved.

The above and other features of the present invention will be apparent to those skilled in the art from the following description of the invention and the drawings.

[0013]

[Embodiment of the invention]

 FIG. 1 is a perspective view of the tactile feedback mouse interface system 10 of the present invention. The tactile feedback mouse interface system 10 can supply an input to a host computer based on a mouse operation of a user, and can provide a user of the tactile feedback mouse interface system 10 based on an event occurring in a program executed by the host computer. Tactile feedback can be supplied to The tactile feedback mouse interface system 10 includes a mouse 12 and a host computer 14. In this description, the term "mouse" is formed so that the user can grip or touch and move in a substantially flat workspace (and possibly have additional degrees of freedom). Indicates the object that was created. In general, a mouse is a small unit with a smooth or angular shape that fits well into the user's hand, fingers and / or palm, but with a grip, finger cradle, cylinder, sphere, flat It may be an object or the like.

The mouse 12 is an object that the user grips or grips to operate. "Gripping" means that the user releasably engages a part of the object with his or her hand or fingertip. In the present embodiment, the mouse 12 is formed so that the user can hold it with a finger or a hand, and can move the physical space with a given degree of freedom. For example, in a graphical environment provided by the host computer 14, the user moves the mouse 12 to move a computer-generated graphical object such as a cursor, or to control the virtual presence in a game or simulation. Two-dimensional input in the plane can be provided to the computer system. The mouse 12 also preferably includes one or more buttons 16a, 16b so that the user can provide additional instructions to the computer system.

The mouse 12 includes an actuator assembly that operates to generate a force acting on the mouse 12 and a tactile sensation to the user. Several embodiments providing different means of actuator assemblies will be described, which will be described in more detail below with reference to FIGS. 2 to 17 (b).

The mouse 12 is placed on a base surface 22 such as a table top or a mouse pad. The user holds the mouse 12 and moves the mouse in a flat work space on the base surface 22 as shown by the arrow 24. In some embodiments, a friction ball or roller (not shown) may be disposed below mouse 12 to convert the planar movement of mouse 12 into an electrical position signal. . The electrical position signal is transmitted to a host computer 14 via a bus 20, as is well known to those skilled in the art. In other embodiments, different mechanisms and / or electronic components may be used to translate mouse movements into position or movement signals received by host computer 14, as described below. The mouse 12 is preferably a device that relatively detects a change in its position. In this case, the mouse 12 can be moved to any position on any surface. Further, as the mouse 12, an absolute mouse which can know its absolute position with reference to a special predetermined work space can be used.

The mouse 12 is connected to a host computer 14 by a bus 20, and the bus 20 transmits signals between the mouse 12 and the host computer 14. In another preferred embodiment, bus 20 may power mouse 12. The components may require power that can be supplied from a normal serial port or through an interface such as a USB or Firewire bus. In other embodiments, signals may be transmitted between the mouse 12 and the computer 14 by wireless transmission / reception. The power supply to the actuator assembly may be assisted by a power storage device provided in the mouse, or power may be supplied to the mouse only by this power storage device. Such an embodiment is disclosed in U.S. Pat. No. 5,691,898, which is incorporated herein by reference.

The host computer 14 is preferably a personal computer or workstation such as a PC-compatible computer, a Macintosh personal computer, a Sun or Silicon Graphics workstation. For example, the host computer 14 operates on an operating system such as Windows (registered trademark), Mac OS, Unix, or MS-DOS. The host computer 14 may also be any home video game console system generally connected to a television set or other display that can be purchased from Nintendo, Sega, Sony or the like. In other embodiments, the host computer 14 may provide, for example, a "set top box" that provides the user with interactive television capabilities, or standard connections and protocols on the Internet and World Wide Wave. A "network-computer" or "internet computer" for the user to interact with the local or global network to be used, a laptop computer, a personal digital assistant (PDA), etc. May be a portable computer device. The host computer 14 includes a host microprocessor, random access memory (RAM), read only memory (ROM), input / output (I / O) circuits, and other components of a computer that are well known to those skilled in the art.

The host computer 14 executes a host application program with which the user interacts with the mouse 12 and other peripheral devices. This host application program may have a force feedback function. For example, the host application program includes a video game, a word processor, a web page or browser for executing commands of HTML (hypertext markup language) and VRML (virtuality modeling language), a science analysis program, a virtual reality training program. There are programs or applications or other application programs that utilize input from the mouse 12 and output of force feedback commands to the mouse 12. Here, for simplicity, operating systems such as Windows (registered trademark), Mac OS, Linux, and Be are also referred to as “application programs”. In one preferred embodiment, the application program uses a GUI to indicate options to the user and to receive input from the user. In this case, host computer 14 provides a "graphical environment", which is a graphical user interface, game, simulation, or other visual environment. As is well known to those skilled in the art, the host computer 14 displays a "graphical object", which is a collection of logical software units of data and / or procedures, on the display device 26 as an image. Displayed cursors and simulated aircraft cockpits are also considered graphical objects. The host application program checks input signals received from the electronic components and sensors of the mouse 12 and outputs commands to the mouse 12 that are converted to force values and / or force outputs.

Display 26 may be included in host computer 14 and may be a standard display (LCD, CRT, flat panel, etc.), 3-D goggles, projection device, head-up display (HUD) or Another visual output device. Generally, the host application program provides other feedback such as images and / or audio signals displayed on the display device 26. For example, the display device 26 can display an image from the GUI.

In another variation, mouse 12 may be a different interface device or controller. For example, hand-held devices are well suited for the actuator assemblies described herein. For example, televisions, video cassette recorders, audio stereos, hand-held remote controls used to select functions on the Internet or network computers (eg Web-TV®), or game pads for video and computer games. A controller can be used with the haptic feedback components described herein. The hand-held device is not confined to a flat workspace like a mouse, but offers the advantages of orientation and contact force orientation described herein. For example, inertial sensation and contact force can be output substantially perpendicular to the housing surface of a hand-held device. Other interface devices may utilize the actuator assemblies described herein. For example, a joystick handle may include an actuator assembly. In this case, the tactile sensations are output as sole tactile feedback or as auxiliary kinesthetic force feedback in the joystick handle degrees of freedom. Trackballs, steering wheels, rotary knobs, linear sliders, gun-shaped aiming devices, medical devices, grips, etc. can utilize actuator assemblies to provide tactile sensations.

FIG. 2 is a side sectional view of the mouse 40 according to the first embodiment of the mouse 12 of FIG. The mouse 40 includes one or more actuator assemblies for transmitting tactile feedback, such as tactile sensations, to a user of the mouse 40. The actuator assembly outputs a force to the mouse 40 that can be felt by the user. In other embodiments, two or more actuator assemblies may provide inertial or contact forces.

The mouse 40 includes a housing 50, a detection system 52, and an actuator assembly 54. The housing 50 is shaped so that when the user moves the mouse 40 in a planar degree of freedom and operates the button 16, it fits in the user's hand, similar to a standard mouse.

The detection system 52 detects the position of the mouse 40 in the degree of freedom in a plane, for example, the position of the mouse 40 in the X-axis and Y-axis directions. In this embodiment, the detection system 52 includes a mouse ball 654 for providing directional input to the computer system. The trackball or mouse ball 654 is a sphere partially projecting from the bottom surface of the mouse 40, and rotates in a direction corresponding to the movement of the mouse 40 on the base surface 22, which is a flat surface. For example, when the mouse 40 moves in the direction indicated by the arrow 56 (Y direction), the mouse ball 654 rotates as indicated by the arrow 58. The movement of the mouse ball 654 is followed by a cylindrical roller 60 connected to a sensor 62 for detecting the movement of the mouse 40. A similar roller and sensor 28 can detect movement in the X direction, which is perpendicular to the Y axis.

In other embodiments, other types of mechanisms and / or electronics can be used to detect planar movement of mouse 40. For example, an optical sensor can be used. Suitable optical mouse technology is provided by Hewlett-Packard of Palo Alto, California. In this optical mouse technique, images of multiple surfaces are optically acquired and stored, and these images are compared over time to determine whether the optical mouse has moved. For example, an IntelliMouse (R) Explorer with an Interior (R) mouse device, or IntelliMouse (R), provided by Microsoft Corporation, uses this type of sensor. If a local microprocessor is used (see FIG. 19), control of the haptic elements can be performed on the same local microprocessor that controls the optical sensor technology. Other sensor devices can be used.

If the user desires to input a command signal to the host computer 14, the user can select the button 16 as a “command gesture”. The user depresses the button 16 (in the direction of the degree of freedom, which is approximately the Z-axis direction) to provide instructions to the computer. The command signals received by host computer 14 manipulate the graphical environment in various ways. In some embodiments, one or more buttons 16 may provide feedback.

The mouse 40 has an actuator assembly 54. The actuator assembly 54 includes an actuator 66, a flexure mechanism (flexure) 68, and an inertial mass 70 connected to the actuator 66 by the flexure 68. As described below, in one preferred embodiment, the actuator 66 functions as an inertial mass and a separate inertial mass 70 is not required. The inertial mass 70 is moved in a linear direction by the actuator 66, preferably in the direction of the Z-axis 51, which is substantially perpendicular to the flat working space in the X-axis and Y-axis directions, and the position of the mouse 40 or Movement is detected in the XY plane. The actuator 66 is connected to the housing 50 of the mouse 40, and an inertial force generated by the movement of the inertial mass 70 is applied to the housing 50 of the mouse 40. Therefore, tactile feedback such as tactile sensation is supplied to the user of the mouse 40 in contact with the housing 50.

In general, since a large force cannot be applied via an inertial ground, it is necessary to compensate with a high-bandwidth actuator, that is, an actuator capable of rapidly changing the output level of the force intensity. Is preferred. In a preferred embodiment, an inertial force is generated that is substantially directed to a single specific degree of freedom, ie, a specific axial inertial force. The mouse device of the present invention applies an inertial force in the Z-axis direction orthogonal to the flat X-axis and Y-axis on which the mouse is controlled, so that it does not prevent the user from accurately positioning the cursor. In addition, a shock or vibration in the Z-axis direction is perceived by the user as if it were a three-dimensional bump or lawn. Alternatively, it is possible to output or output inertial forces in the X-axis and Y-axis directions in a flat work space of the device, thereby preventing or reducing interference with user control of the device.

One aspect of the present invention is to use a rotary actuator, that is, an actuator that outputs torque (torque) to output a linear force. In the current actuator market, rotary actuators such as DC rotary motors are among the most inexpensive but are included in actuators of the type that can operate over a wide band (for example, driven by a signal through an H-type amplifier). Also, this type of motor can be manufactured very small and can output a large force for its dimensions. Therefore, although a DC motor is suitable as the actuator 66, other embodiments may be other types of rotary actuators. For example, a rotary magnetic actuator can be used in place of the DC actuator. In addition, such as stepping motors controlled by pulse width modulation of supply voltage, pneumatic / hydraulic actuators, torquers (torquers: motors with limited rotation range), shape memory alloys (wires, plates, etc.), and piezoelectric actuators Other types of actuators can be used.

[0030] In the present invention, the force of the rotary actuator is converted into a linear force used for the movement of the inertial mass, and the linear force is used as a mechanical transmission device to supplement a tactile sensation. Is used. Hereinafter, various embodiments of the flexure 68 will be described in more detail with reference to FIGS. 3 to 18B.

In the embodiment illustrated in FIG. 2, the actuator assembly 54 has a stationary portion connected to a portion of the housing 50 (therefore, the stationary portion is stationary only with respect to a portion of the housing 50). Have. The rotational shaft of the actuator 66 is connected to a movable portion (or actuator as an inertial mass) of the actuator assembly 54 that includes an inertial mass 70 and is connected to at least a portion of a flexure 68, which The inertial mass 70 moves substantially in the Z-axis direction. The actuator 66 is actuated to cause the inertial mass 70 (in some embodiments, the actuator 66 itself) to rapidly vibrate along an axis C that is substantially perpendicular to the Z axis. Therefore, the force generated by the inertial mass 70 is transmitted to the housing 50 via the actuator 66, and is sensed by the user. These forces are substantially in the Z-axis direction and do not interfere with the movement of the mouse 40 in the X-axis and Y-axis directions.

The actuator assembly 54 can be located at various locations within the housing 50. For example, in one embodiment, to minimize wobble of the mouse 40 when the actuator 66 is actuated, the mouse 40 is located as close as possible to the center of the mouse 40 in the X-axis and Y-axis directions at the bottom of the housing 50. Thus, the actuator 66 is arranged. In other embodiments, the actuator assembly 54 can be located on other parts or sides of the housing 50. Various tactile sensations can be output to the user, many of which are described in more detail below with reference to FIG.

An additional attempt to provide a tactile sensation to the housing 50 is when the mouse 40 is mounted on a table or base surface 22 and makes physical contact in the Z-axis direction. In other words, the force applied to the inertial mass 70 in the Z-axis direction by the actuator assembly 54 is counteracted or reduced by the vertical force applied to the housing 50 from the tabletop. One way to adjust these reaction forces is to use a flexible or semi-flexible surface such as a standard mouse pad located between the housing 50 and the base surface 22. is there. Such a flexible surface enhances the efficiency of transmitting the inertial force from the actuator 66 to the housing 50. For example, the mouse pad provides additional flexibility to attenuate the second harmonic vibration system, and as will be described later with reference to FIG. The output power is amplified within the range of the system amplification frequency. Most mouse pads provide flexibility and damping between the mouse and a hard surface that amplifies inertia, such as a tabletop. In some embodiments, a special mouse pad can be provided with flexibility tailored to amplify the force to a desired range. In other embodiments, a smooth surfaced flexible layer is bonded to the bottom of the housing 50, or the stationary portion of the actuator 66 is bonded to a portion of the housing 50 other than the base or bottom 668 (eg, a side of the housing 50). In addition, sufficient flexibility is provided between the connection of the housing 50 to the actuator 66 and the bottom 668 that contacts the base surface 22. For example, the two parts can be joined by a flexible hinge or a flexible connecting member. This point can be used to connect with the mouse pad for better force transmission.

By initially moving the proof mass 70 in a direction that has a greater distance from the origin to the range limit, the initial tactile sensation can be increased in many embodiments. To ensure this initial increase in tactile sensation, the actuator 66 is initially driven, for example, in a direction of a longer distance, which is often a "rise" against gravity, to drive the inertial mass. An appropriate polarity may be provided.

FIGS. 3 and 4 are a perspective view and a side view, respectively, of a first embodiment 80 of the flexure 68 of the present invention used in the actuator 54. Preferably, the flexure 80 comprises a single, unitary piece of material such as polypropylene resin ("integral hinge" material) or other flexible material. This type of material is durable, and can be made flexible by making one flexible joint (hinge) of the flexible body 80 small, but it has rigidity in portions having different sizes and has a thickness. Depending on the structure, structural integrity as well as flexibility can be obtained.

An actuator 66 is shown coupled to the flexure 80, where the actuator 66 is shown in dashed lines. The housing of the actuator 66 is connected to the base 86 of the flexure 80. The base 86 may be connected to the side of the housing 50 or the bottom of the mouse 40. In the embodiment shown, the movable portion 88 of the flexure 80 (the portion to the right of the arrow 89) moves substantially linearly and is not connected to the bottom of the mouse 40.

The rotary shaft 82 of the actuator 66 is connected to the flexible body 80 at the hole 84 of the flexible body 80 and is firmly connected to the central rotating member 90. The rotating shaft 82 of the actuator 66 rotates around the axis A, and rotates the central rotating member 90 around the axis A. The center rotating member 90 is connected to the linear motion part 92 by a flexible joint 94. Flexure joint 94 has a very thin thickness dimension, i.e., one of the dimensions in the X or Y axis direction, such that flexure joint 94 bends as movable portion 88 moves relative to base 86 (FIG. 3). Although the dimension in the Y-axis direction is thin, the dimension in the X-axis direction may be reduced.) The linear motion part 92 linearly moves in the Z-axis direction as shown by an arrow 96. In practice, the linear motion section 92 draws a small arc with respect to its travel, so the linear motion section 92 simply moves almost linearly, but this arc is negligible for the purpose of force output. Small enough. The linear motion part 92 is connected to the base 86 of the flexible body 80 by flexible joints 98a and 98b. One ends of the intermediate members 100a and 100b are connected to flexible joints 98a and 98b, respectively, and the other ends of these intermediate members 100a and 100b are connected to other flexible joints 102a and 102b, respectively. The flexible joints 102a and 102b are connected to the base 86, respectively. Like the flexible joint 94, the flexible joints 98a, 98b, 102a, and 102b have one thickness dimension in the X-axis direction and the Y-axis direction (one thickness dimension in the X-axis direction and the Y-axis direction different from the flexible joint 94). ) Is small, and the movement of the two members connected by each flexible joint is possible. Therefore, the flexible joints 98a and 98b and the flexible joints 102a and 102b of the respective intermediate members 100a and 100b are curved in an "S" shape so that the linear motion section 92 can linearly move.

In some embodiments, the linear motion portion 92 of the flexure 80 has a mass sufficient to function as the proof mass 70 of the actuator assembly 54. The linear motion part 92 can be driven up and down in the Z-axis direction to generate an inertial force. In other embodiments, an additional proof mass 97 shown by a dotted line may be connected to the linear motion section 92. For example, a piece made of metal (such as iron), or other material having a large mass or weight can be used as the inertial mass 97. The large mass of the inertial mass 97 generates a large force that is perceived by the user of the mouse 40.

An example of a possible movement of the flexure 80 is shown in FIG. In this example, actuator 66 is rotating clockwise, as indicated by arrow 104. The rotation of the rotating shaft 82 of the actuator 66 causes the central rotating member 90 to rotate clockwise, and the linear motion part 92 to move almost linearly in the direction of the arrow 106. The flexible joint 94 pulls the linear motion part 92 in the direction of the arrow 106, and the rotational motion is linearized by the joint. The flexible joint 94 is important in that the linear motion part 92 can be slightly moved in the Y direction as indicated by an arrow 107 when the linear motion part 92 moves in the Z-axis direction. Without such flexibility in the Y direction, the linear motion section 92 cannot be moved in a sufficient range in the Z direction. Further, the flexible joints 102a and 102b bend with respect to the base 86, and the flexible joints 98a and 98b also bend with respect to the members to which they are connected.

The flexible body 80 includes two stoppers 108 a and 108 b arranged around the central rotating member 90. In FIG. 5, the central rotating member 90 collides with the stop 108b to prevent the central rotating member 90 from rotating further in this direction, thereby restricting the linear motion of the linear motion portion 92. Similarly, the stop 108b also restricts the counterclockwise rotation. In some embodiments, instead of or in addition to the central rotation member 90, which functions as a stop member, the intermediate member 100a can act as a stop member against the stop 108a, and the intermediate member 100a can rotate in the opposite direction. 100b may collide with stop 108. In some embodiments, the stops 108a, 108a may be provided with a stop 108a, 108a, for example, to maximize mitigation of rough "jumping" impacts output by the actuator and to improve the "feel" of a collision with the stop felt by the user. Some flexibility may be provided.

Although the flexure 80 is very low cost and easy to manufacture, it is an advantage of the present invention that it can transmit broadband forces as inertial forces. Since the flexible body 80 is an integral member, it can be formed from a single mold (or a small number of molds), and the assembling time and cost can be significantly reduced. In addition, the flexible body 80 can supply strong vibration to the mouse housing, and has rigidity enough to obtain considerable durability. Further, the flexible body 80 has almost no backlash, hardly wears over time, and has a long product life.

The flexure joint included in the flexure body 80 supplies the linear motion member 92 with a restoring force for moving the flexure body 80 to the flexure rest position (origin position) shown in FIG. Functions as a spring member. For example, the flex joints 102a, 98a provide a first spring constant (k) for the linear motion member 92, the flex joints 102b, 98b provide a second spring constant (k) for the linear motion member 92, Flexible joint 94 provides a third spring constant for linear motion member 92. The fact that the center position of the linear motion member 92 is biased by a spring accurately reproduces the input control signal and provides a linear and harmonic operation that is more preferable than a non-linear operation. Very important on. By providing elastic flexibility between the linear motion member 92 and the mouse housing, a second harmonic vibration system is formed. This second harmonic vibration system can be adjusted so that the amplification of the force output by the actuator functions at the most effective level, for example, near the natural frequency of the system. The system for providing the contact force described with reference to FIG. 6 can also be adjusted. For example, in the flexible body 80, the spring constant can be adjusted by adjusting the thickness of the flexible joints 102a, 102b, 98a, 98b and / or the thickness of the flexible joint 94 (the dimension in the direction in which they are thinned). . In some embodiments, if necessary, an additional spring may be provided with a mechanical spring, such as a leaf spring, to provide additional centering force.

FIG. 6 is a side view of the mouse 120 according to the second embodiment using the flexible body 80 shown in FIGS. 6, the linear motion provided by the actuator assembly 54 (including the flexure 80) drives a portion (or other member) of the housing that is in direct contact with the user's hand (finger, palm, etc.). Used to

The mouse 120 has a detection system 52 and buttons 16 similar to those described for the mouse 40 in FIG. Actuator assembly 54 includes an actuator 66 and a flexure 68 (similar to flexure 80), similar to mouse 40 of FIG. (FIG. 6 differs from FIG. 6 in that the actuator 66 and the flexure 68 are rotated by approximately 90 degrees as compared to FIG. 2.)

The mouse 120 has a movable cover 122 that is a part of the housing 50. The movable cover part 122 is composed of a mechanical hinge, a flexible body, a rubber bellows, or another type of hinge, and is connected to the base part 124 by a hinge that enables relative movement thereof. Therefore, the movable cover 122 rotates around the axis B of the hinge with respect to the base 124. In other embodiments, the hinge may cause a linear or sliding motion between the movable cover 122 and the base 124 instead of a rotary motion. In the illustrated embodiment, the movable cover 122 extends in the Y-axis direction from substantially the center of the mouse 120 to the rear end of the mouse 120. In other embodiments, the movable cover 122 may cover a larger or smaller area. For example, the movable cover part 122 may cover the entire upper surface of the housing 50 of the mouse 120, the movable cover part 122 may include the side part of the housing 50 of the mouse 120, or the movable cover part 122 is provided only on the side part. May be arranged.

The movable cover part 122 is rotatably connected to the link 126, and the other end of the link 126 is rotatably connected to the linear motion part 92 of the flexible body 80 (see FIGS. 3 to 4). Therefore, when the linear motion part 92 of the flexible body 80 moves in the Z-axis direction, this movement is transmitted to the movable cover part 122 via the link 126. At this time, since the link 126 is rotatably connected, the movable cover portion 122 rotates around the hinge axis B with respect to the base portion 124. The actuator 66 can raise the linear motion portion 92 on the Z axis, thereby raising the movable cover portion 122, for example, as shown by the dotted line in the figure. In some embodiments, the movable cover 122 may be lowered from a rest position, in which case the rest position is set at the center of the range of movement of the movable cover 122. For example, the inherent springiness of the flexure 80 biases the movable cover 122 to the rest position and / or adds another mechanical spring to perform this function.

When the movable cover 122 moves with respect to the local ground (the housing 50) by the actuator 66, the user feels the force of the movable cover 122 on his / her hand (for example, palm) as “contact force”. When the movable cover part 122 vibrates, the user can sense a force such as a vibration force. Also, the movable cover 122 can be used to represent a three-dimensional bump in a graphical environment. In some embodiments, the inertial mass can be supplied together with the contact force by the configuration described above by moving the inertial mass in addition to the contact portion. In another embodiment, instead of the movable cover unit 122, another “contact member (for example, a member that physically contacts the user)” may move in the same manner as the movable cover unit 122. Such contact members include mouse buttons 16 or other buttons, tabs, mouse wheels, dials, and the like. In addition, multiple actuator assemblies 54 can be used to drive the movable cover 122, one or more buttons or other control elements provided with the mouse 120. Furthermore, in some embodiments, a single actuator assembly 54 is used to move the movable cover 122 or other member, providing an inertial force like the mouse 40 of the embodiment shown in FIG. Other actuator assemblies may be used to provide and, if necessary, actuate the contact force and the inertia force in conjunction.

FIG. 7 is a schematic diagram of an embodiment 200 of the actuator assembly 54 according to the present invention for use with the mouse 12 which is a tactile feedback interface device. A key feature of this embodiment is the use of a non-grounded or non-base secured actuator as the proof mass moving in the actuator assembly 200. The actuator assembly 200 can be located within the housing 50 of a mouse or other device.

In this actuator assembly 200, a rotary actuator 202 having a rotary shaft 204 is provided. A mechanical transmission mechanism 205 connects the rotary actuator 202 to the reference plane. That is, the housing of the actuator 202 is connected to the housing 50 of the mouse 12, which is a tactile feedback interface device, by the transmission mechanism 205. The rotating member 206 is connected to the rotating shaft 204, and the other end of the rotating shaft 206 is rotatably connected to the member 208. The other end of the member 208 is rotatably connected to a reference surface 210 such as a mouse housing 50 or the like. One end of the housing of the actuator 202 is rotatably connected to the arm member 211a, and the other end of the housing of the actuator 202 is rotatably connected to the arm member 211b. Each of the arm members 211a and 211b is rotatably connected to a reference surface 210 such as the housing 50.

The rotation of the rotating shaft 204 causes the actuator 202 (including both the actuator housing and the rotating shaft 204) to move in substantially one axis, the Z-axis (in other embodiments, the other axis). (Axial direction). For example, when the rotating shaft 204 rotates clockwise, the rotating member 206 rotates clockwise. This rotation generates an upward force acting on the member 208, but since the member 208 is connected to the reference surface 210, this upward force is converted into a downward force on the rotary actuator 202. Since the rotary actuator 202 is rotatably connected to the arm members 211a, 211b, and the arm members 211a, 211b, 208 are rotatably connected to the reference plane 210, the rotary actuator 202 is free to move downward. can do. A similar result occurs when the rotating shaft 204 rotates counterclockwise, with the rotating actuator 202 moving upward.

Therefore, by controlling the rotation of the rotary shaft 204, it is possible to control that the rotary actuator 202 itself moves with a linear degree of freedom. When the rotary shaft 204 is vibrated, the rotary actuator 202 functions as a Z-axis inertial mass, providing tactile feedback in the Z-axis degrees of freedom. Thus, in this embodiment, the cost of providing a separate inertial mass can be saved and the space and total weight of the device reduced, which are important in the home consumer market. Rotary actuator 202 may be any of a variety of rotary actuators, including DC motors, moving magnet actuators, voice coil actuators, and the like.

The essential elements shown schematically in FIG. 7 can be implemented with a wide variety of components. For example, the members can be rotatably connected using mechanical connections such as bearings, pins, joints, and the like. In other embodiments, the coupling may be performed by a flex joint as in the preferred embodiment described below with reference to FIGS. 8-11 and 17 (a) -18 (b). In other embodiments, some connections in the actuator assembly may be made with mechanical bearings and other connections in the actuator assembly may be made with flexible joints. The actuator 202 rotates the rotating shaft 204 about the X axis or the Y axis in the XZ plane or the YZ plane. As will be described later with reference to FIGS. The rotation actuator 202 may be arranged so that the 204 rotates about the Z-axis and rotation occurs in the XY plane.

The actuator assembly 200 may include spring elements 212 a, 212 b, and these spring elements 212 a, 212 b may connect between each arm member 211 a, 211 b and the ground plane 210. The spring elements 212a and 212b apply a restoring force to the mechanism, and when the force is not output, bias the rotary actuator 202 to return to the rest position shown in FIG. This results in a second harmonic vibration system that can be adjusted according to the natural frequency of the system to amplify the force, as described above. The spring elements 212a, 212b may be separate physical springs (e.g., leaf springs, coil springs, etc.) or may be by the connection between the members themselves, such as with a flexible joint.

In some embodiments, the actuator assembly 200 is provided to provide a contact force by, for example, driving the movable cover 122 and other movable members as described with reference to FIG. Can be used. In this type of embodiment, one end of the link member 216 is rotatably connected to the housing of the actuator 202, and the other end is rotatably connected to the movable cover 122 or another movable member. This embodiment has the advantage that there are both inertial forces (obtained from the movement of the rotary actuator 202) and contact forces (obtained from the movement of the movable cover 122). Therefore, even a user who does not like to hold the mouse in such a manner as to sense the movable cover portion 122 can experience tactile feedback by the inertial force transmitted from the entire mouse housing 50. .

8 to 12 are perspective views of the flexure embodiment 220 of the actuator assembly 200 of the present invention shown in FIG. In this embodiment, the mechanical transmission mechanism is an integral member, and the members are connected by a flexible joint similar to the flexible connection in the embodiments of FIGS. 3 to 5 and 7.

The flexure 220 is a single, unitary member connected to a rotary actuator 202 (the rotary actuator 202 is not shown in all figures). The flexible body 220 includes a base 222 connected to a reference surface (for example, the mouse housing 50), and a movable part 224. The movable part 224 is flexibly connected to the base 222 by flexible joints 226, 228, 230 (not shown in all figures). The movable part 224 (as best shown in FIGS. 10 and 11) comprises a rotating member 232 connected by a hole 233 to the rotating shaft 204 of the rotating actuator 202. The rotation member 232 substantially corresponds to the rotation member 206 in FIG. The rotating member 232 is flexibly connected to the member 234 by a flexible joint 236, and the member 234 substantially corresponds to the member 208. Member 234 is connected to base 222 by flexible joint 230.

The housing of the actuator 202 is firmly fixed to the central movable member 240. When the central movable member 240 moves substantially in the Z-axis direction, the actuator 202 also moves. The center movable member 240 has one end connected to the flexible joint 242 and the other end connected to the flexible joint 244. The arm member 246a is connected to the flexible joint 242, and the arm member 246b is connected to the flexible joint 244. These arm members 246a and 246b correspond to the arm members 211a and 211b in FIG. The arm members 246a and 246b are connected to the base 222 by flexible joints 228 and 226, respectively.

The flexure 220 operates similarly to the actuator assembly 200 of FIG. When the rotary actuator 202 is controlled to rotate its rotary shaft 204 and rotate the rotary member 232, the rotary actuator 202 and the central movable member 240 move substantially in the Z-axis direction. All of the flex joints 228, 242, 244, 246 flex to cause the rotary actuator 202 to move linearly, with the flex joints 236, 230 allowing rotational movement to be converted to linear movement. Collisions with the surface or portion of the mouse housing 50 degrade the quality of the tactile sensation output to the user, so that a rotary actuator 202 is provided to provide a range of motion without such collisions. There will be sufficient space above and below.

As with all the flexures described here, the integral flexure 220 can be molded entirely in a single resin mold, which is the basis for cost reduction in tactile feedback devices. It has the advantage of a favorable solution. If the rotary actuator 202 is made to have an inertial mass, further downsizing and cost reduction can be achieved. The flex joint itself includes a spring and can amplify the force by adjusting the flexibility of the flex joint. This miniaturization of the design makes the actuator assembly ideal for use in electronic devices and interface devices such as remote controls, game pad controllers or other hand-held controllers used in electronics.

In some embodiments, in addition to functioning as an inertial motor, the rotary actuator 202 can be used to drive the movable cover 122 as shown in FIG. A link member as shown in FIG. 7 may be rotatably connected between the actuator 202 and the movable cover 122 or the movable member of the mouse. This link member may be connected to any position of the central movable member 240 of the flexible body 220 or the arm members 246a and 246b. In one example, as shown in FIG. 12, a center movable member 240 and a movable cover 122 of a mouse housing 50 are connected by a link member 250. The link member 250 is connected to the central rotating member 240 by a mechanical bearing 252, and the bearing 252 is connected to the extension 251 shown in FIGS. Similarly, the link member 250 is connected to the movable cover 122 by a bearing 254. Instead of bearings, other types of connections such as flexible joints can be used.

FIG. 13 shows a mouse 12 including another embodiment 300 of the actuator assembly 54 of the present invention. The actuator assembly 300 is similar to the actuator of FIGS. 8-11 except that the actuator also functions as an inertial mass or a movable element and drives the shaft to rotate about the Z axis in the XY plane. Similar to tutors and flexures. Thereby, the actuator can be arranged at a lower position to achieve downsizing.

As shown in FIG. 13, the actuator assembly 300 may be disposed on the bottom 67 of the mouse housing 50, and a space 302 may be provided in which the actuator 66 moves in the Z-axis direction without colliding with the housing 50. In other embodiments, the actuator assembly 300 may be located on another surface of the housing 50, such as on the top or side. Although the illustrated actuator assembly is provided to provide inertial force, the actuator 66 is coupled to a movable member on the surface of the housing 50 to provide contact force, as described with reference to FIG. You may.

FIGS. 14, 15 and 16 are a perspective view and a plan view showing the first embodiment 310 of the actuator assembly 54 of the present invention. Actuator assembly 310 includes a flexure 320 connected to a ground or reference plane, and an actuator 66 coupled to flexure 320. The flexure 320 comprises a single, unitary piece of material such as polypropylene resin ("integral hinge" material) or other flexible material. This type of material is durable and can be made flexible by making one of the flexible joints (hinges) of the flexible body 320 smaller, but it has rigidity in different size parts, Depending on the thickness, structural integrity as well as flexibility can be obtained. The flexible body 320 has, for example, a portion 321 connected to the mouse housing 50.

As shown, the actuator 66 is connected to the flexure 320. The housing of the actuator 66 is coupled to a receiving portion 322 of the flexure 320, which receives the actuator 66 as shown. Preferably, a space is provided above and below the actuator and receiving portion 322 so that the actuator 66 can move in the Z-axis direction.

The rotation shaft 324 of the actuator 66 is connected to the hole 325 of the flexible body 329, and is firmly connected to the central rotation member 330. When the rotation shaft 324 of the actuator 66 rotates around the axis B, the center rotating member 330 also rotates around the axis B. The center rotating member 330 is connected to the first portion 332a of the bending member 331 by a flexible joint 334. In order for the flexible joint 334 to bend when the central rotating member 330 moves the first portion 332a substantially linearly, the flexible joint 334 has a very small thickness, that is, in the X-axis direction or the Y-axis direction. One of them has a thin flexibility (though it is thin in the Y-axis direction in FIGS. 14 to 16, it may be thin in the X-axis direction). The first portion 332a is connected to the base 340 by a flexible joint 338, and is connected to the second portion 332b of the bending member 331 by a flexible joint 342. On the other hand, the other end of the second portion 332b is connected to the receiving portion 322 of the flexible body 320 by a flexible joint 344. Therefore, in the illustrated embodiment, the bending member 331 is connected to the reference surface (housing), the receiving portion 322, and the rotating shaft 324 of the actuator 66 at three different positions.

The bending member 311 including the first portion 332a and the second portion 332b moves linearly in the X-axis direction as indicated by an arrow 336. In practice, the first portion 332a and the second portion 332b simply move almost linearly because they draw a small arc with respect to the stroke, but this arc is small enough to be ignored. When the flexure 320 is in the home position (rest position), the first and second portions 332a, 332b are preferably angled with respect to their longitudinal axis, as shown. This allows the central rotating member 330 to push or pull the bending member 331 in either direction, as indicated by arrow 336. With this structure, the force output by the actuator 66 is amplified and transmitted to the movable receiving portion 322 and the movable elements (the inertial mass, the movable cover portion, the mouse button, etc.) of the interface device. The actual output force depends on the angle of the first and second portions 332a, 332b with respect to the longitudinal direction (or the Y axis). When the actuator 66 pushes the bending member 311 in the direction of the arrow 346a, the angle between the first and second portions 332a and 332b increases, and a large force is output. When the actuator 66 pulls the bending member 311 in the direction of the arrow 346b, a small force is output. Similar to the embodiment of FIGS. 3 to 5, such an increase in force allows a large contact force to be supplied using a low power pager motor or the like. The fact that such force expansion only occurs in one direction does not actually increase the nonlinearity of the undesirable system.

When driving the central rotating member 330 in two directions, the actuator 66 operates only in a part of its rotation range, so that it is possible to operate in a wide band and to output a high frequency pulse or vibration. The movement of the bending member 331 causes the flexible body 320 to be compressed or expanded with respect to the portion 321. In order to direct the compression or expansion of the flexible body 320 in a desired Z-axis direction, a flexible joint 352 is provided between the receiving portion 320 and the base 340 of the flexible body 320. The flexible joint 352 is different from the flexible joints 334, 338, 342, and 344 that are configured to bend on the XY plane, and is oriented in the Z-axis direction. In response to the movement of the first and second portions 332a, 332b, the flexible joint 352 linearly moves the receiving portion 322 (the same applies to the actuator 66, the central rotating member 330, and the second portion 332b) in the Z-axis direction. Operate. In practice, the receiving portion 322 and the actuator 66 simply move almost linearly because they draw a small arc with respect to the stroke, but this arc is small enough to be practically negligible. Therefore, when the both ends of the bending member 331 move in the direction in which the both ends of the bending member 331 move away from each other (in the direction of the arrow 346a) due to the rotation of the central rotating member 330, the receiving portion 322 bends downward along the Z-axis around the flexible joint 352 (FIG. 14). This is due to compression occurring between the actuator 66 and the base 340 in the plane above the flexible joint 352, causing the flexible joint 352 to flex downward. Similarly, when both ends of the bending member 331 approach each other (in the direction of the arrow 346b), the receiving portion 322 and the actuator 66 move upward along the Z axis, and the actuator 66 is effectively lifted upward. A bending joint 350 is provided on the first portion 332a of the bending member 311 so that the bending in the Z-axis direction occurs more easily.

By rapidly changing the rotation direction of the rotation shaft 324 of the actuator 66, the actuator / receiving portion vibrates in the Z-axis direction, and the actuator 66 becomes an inertial mass, and the mouse housing vibrates. Collisions with the surface or portion of the mouse housing 50 reduce the quality of the tactile sensation, such as pulses and vibrations output to the user, so that the range of movement can be obtained without such collisions. , Sufficient space is provided above and below the actuator 66. For example, for small devices, 1.5 mm of free space can be provided above and below the actuator / receiver.

Further, the flexure joint provided in the flexure body 320 such as the flexure joint 352 functions as a spring means for supplying a restoring force for urging the actuator 66 and the receiving portion 332 to the home position (rest position). . The spring bias to this center position eliminates the need for the actuator 66 to output a force once the actuator 66 reaches another position in the peak or travel range, so that the actuator 66 can move itself to move. The required work can be reduced. The spring bias returns actuator 66 to its rest position without actuator 66 outputting any force. Also, being spring-biased in the center position is very important to accurately reproduce the input control signal and to provide a linear and harmonic operation, which is preferable to non-linear operation. It is. By providing elastic flexibility included between the movable member and the housing of the mouse, a second harmonic vibration system is configured. This second harmonic vibration system can be adjusted so that the amplification of the force output by the actuator functions at the most effective level, for example, near the natural frequency of the system. The adjustment of the second harmonic vibration system using the suspension having such inertial force and movable mass compliance has already been described. The system that provides the contact force can be adjusted as well. For example, in the flexible body 320, the spring constant can be adjusted by adjusting the thickness (dimensions in the thinner direction) of the flexible joints 334, 342, 338, 344 and / or 352. In some embodiments, additional springs, such as leaf springs, may be provided to provide additional centering force if needed.

The link member may connect the actuator 66 (or the receiving portion 322) to a cover, a button, or another movable element of a mouse housing to supply a contact force to the user. The movement of the actuator 66, which is substantially linear, can be used to drive a cover, button or other movable element of the mouse housing. For example, a link member can be rotatably connected between the actuator 66 and the movable element of the mouse. This link member can be connected to either the actuator 66 or the receiving part 322. The link members can be connected to the actuator 66 or members and moving elements by other types of connections such as mechanical bearings or flexible joints.

In some embodiments, a flexure 320 may be provided with a stop to limit movement of the receiver 322 and the actuator 66 in the Z-axis direction. In other embodiments, the stop may be flexible to enhance the perceived impact of the user.

The flexure 320 is very low cost, easy to manufacture, can transmit a wide range of forces as inertia, can be manufactured from a single mold, and has very high durability With almost no backlash and a long life. If the actuator 66 is used as the inertial mass, the cost of providing a separate inertial mass can be saved, the arrangement space and the total weight of the device can be reduced, and the outer shape in the Z-axis direction can be made very small. .

The essential elements shown schematically in FIGS. 14 to 16 can be implemented with a wide variety of components. For example, some or all members may be rotatably connected using mechanical connections other than flexible joints, such as bearings, pins, joints, and the like. The actuator may be arranged such that the rotating shaft rotates about the X or Y axis or in other directions. Furthermore, due to the small size of the design, the actuator assembly is ideal for use in interface devices such as electronic devices and remote controls, game pad controllers or other hand-held controllers used in electronics.

FIGS. 17A and 17B show a multi-piece embodiment 450 of the actuator assembly 310. In this embodiment, the flexure has a two-piece construction and can be connected to the base or bottom of the inner surface of the device (other surfaces may be as described above). The flexure has a flexure joint that flexes in the same manner as the flexure joint described above. FIGS. 17A and 17B are merely an example in which a plurality of pieces are provided for facilitating assembly of an actuator assembly, and other structures and pieces can be used in other embodiments.

An example of the actuator assembly 450 is shown in FIGS. 17A and 17B. The actuator assembly shown has seven components. The actuator link 452 is a piece manufactured by injection molding of polypropylene. The flexure and actuator mount 454 are also made of polypropylene. The illustrated actuator 66 is a DC motor, such as the Mabuchi RF300-CA or Johnson HC 203G, although other types of actuators may be used in other embodiments as described above. Three screws 456 are used to connect the actuator 66 to the actuator mount 454. A resin screw 458 is used to connect the actuator link 452 and the actuator mount 454 to a reference surface member, such as the bottom of the housing of the interface device. When assembling the assembly, first, the actuator link 452, the actuator mount 454, the actuator 66, and the screw 456 are first assembled. Next, the assembly is assembled with the screw 458 to the base of the mouse (or other device). Preferably, the coupling 460 of the actuator link 452 is press-fitted into the rotating shaft 462 of the actuator 66, and the rotating shaft 462 is provided with a keyway or knurl for a tight fit.

FIGS. 18A and 18B are a perspective view and a sectional view of an assembled actuator assembly 450. The actuator assembly 450 is attached to the base 470 of a mouse or other device. In many embodiments, the actuator assembly 450 can be located behind or in front of a mouse sensor mechanism (eg, a ball / encoder assembly, optical sensor, etc.).

The base of the mouse preferably has two features for positioning and holding the actuator module. A mounting boss 472 is provided for receiving the thread of the screw. The mounting boss 472 may include a hole having the same depth as its length. A positioning boss 474 may be provided in the radial direction of the screw hole of the threaded mounting boss 472 to position the angular position in the product. In the actuator assembly 310 of this embodiment, the actuator 66 itself outputs a rotational force, and the housing (and a part of the flexure) of the actuator moves substantially in the Z-axis direction as an inertial mass. When this inertial mass is controlled in connection with cursor events and interactions in a computer-displayed graphical environment, an attractive tactile feedback to the user, as described with reference to FIG. A sense is provided.

The flexure and actuator assembly 450 operates similarly to the embodiments described above. When the actuator 66 rotates the rotation shaft 462, the central rotation member 480 rotates about the rotation axis of the rotation shaft 462. The movement of the central rotating member 480 causes the arm member 482 connected to the central rotating member 480 by the flexible joint 484 and the arm member 482 connected to the base 486 by the other flexible joint 488 to be extended or compressed. The actuator carriage 490 and the actuator 66 (fixed to the actuator carriage 490) rotate around the flexible joint 490 connecting the actuator carriage 490 to the base 486 due to the tension or tension in the arm member 482 (see above). After the two assembly parts have been secured to the mouse housing, the base 486 has both of these parts.) Rotation of the actuator carriage 490 and the actuator 66 around the joint 494 is limited to a small arc range, and the actuator carriage 490 and the actuator 66 move in the axial direction such as the Z axis perpendicular to the XY plane on which the mouse moves. Move almost linearly. While the actuator carriage 49 and the actuator 66 are moving, the flex joints 484, 488 flex to accommodate this movement.

The actuator assembly 450 preferably incorporates movement restrictions. This travel restriction is formed by a member 498 connected to the actuator link 452 (and base 486) and portions 496a, 496b of the actuator mount 454 (and actuator carriage 490). As the actuator carriage 490 rotates up and down, portions 496a and 496b of the actuator carriage 490 collide with the member 498 of the base 486 and prevent further movement in that direction. This portion 498 limits the range of movement of the actuator 66 to a predetermined range, approaching linear motion, and also prevents the actuator 66 or actuator carriage 490 from colliding with the housing of a mouse or other device. In one embodiment, this limit limits travel to about 2 mm rise and about 2 mm drop relative to the origin (rest) position. Therefore, the movement from peak to peak is about 4 mm. Adding this movement to the resting height provides a "dynamic height" which is the sum of the heights required to accommodate the actuator assembly 450 in the mouse housing. Additional tolerances are preferably added to prevent collisions of the actuator / carriage with the housing or container.

This limitation of travel has the additional advantage of qualitatively improving the feel of the force felt by the user. When the actuator reaches the travel limit, the travel limit preferably mitigates the impact, so that compared to when the actuator collides with the device at the travel limit, little high-frequency force is generated, and the user is not affected. On the other hand, it provides a crisp, almost annoying sensation. Also, the travel limit is more resilient or "bounces", thus assisting the actuator in the opposite direction after reaching the travel limit.

FIG. 19 shows an embodiment of the tactile feedback system of the present invention including the local microprocessor 510 and the host computer 14.

The host computer 14 includes a host microprocessor 500, a system clock 502, a display device 26, and a sound output device 504. The host computer 14 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 a game environment, operating system applications, simulation images, and the like. The sound output device 504 is a speaker or the like, and is connected to the host microprocessor 500 via other circuit elements known to those skilled in the art such as an amplifier and a filter. When an “event” occurs, an acoustic 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 500.

The mouse 12 as an interface device 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. For the bidirectional bus 20, an RS232 serial interface, RS-422, USB, musical instrument digital interface (MIDI), parallel bus, wireless connection, or the like can be used.

The mouse 12 has a local microprocessor 510. The local microprocessor 510 is housed in a housing of the mouse 12 so that it can efficiently communicate with other parts of the mouse 12. The local microprocessor 510 is "local" with respect to the mouse 12, and "local" means that the local microprocessor 510 is a processor separate from any processor of the host computer 14. Further, “local” means that the local microprocessor 510 is used for a tactile feedback and a sensor input / output of the mouse 12. The local microprocessor 510 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 510 operates independently of the host computer 14 to read sensor signals and calculate an appropriate force from the sensor signals, the time signal, and a stored or relayed command selected according to the host command. I do. Microprocessors suitable for use as local microprocessor 510 include, for example, Motorola MC68HC711E9, Intel Corp.'s 82930AX or Immersion Touchsense Processor. The local microprocessor 510 may comprise a single microprocessor chip, multiple processors and / or multiple chips for co-processing, and / or digital signal processor (DSP) capabilities.

The local microprocessor 510 receives signals from the plurality of sensors 112 and supplies signals to the actuator 66 in accordance with a command supplied from the host computer 54 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 510 via the bus 20 and the local microprocessor 510 generates a high level monitoring instruction based on the high level instruction. Independent of the host computer 14, it monitors the low level force control loop for the sensor 512 and the actuator 66. In the host control loop, force commands are output from the host computer 14 to the local microprocessor 510, which commands the local microprocessor 510 to output a force or a force sensation having particular characteristics. The local microprocessor 510 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 status of button 16 and safety switch 532. The host computer 14 uses the data to update the running program. In the local control loop, an actuator signal is supplied from the local microprocessor 510 to the actuator 18, and a sensor signal is supplied from the sensor 512 and another input device 518 to the local microprocessor 510. Here, the term “tactile sensation” or “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, a single impact or a tactile sensation are all included. The local microprocessor 510 uses the input sensor signal to determine the appropriate actuator output signal according to the stored instructions. The local microprocessor 510 uses the sensor signals to determine the appropriate force output to the user object, and communicates position data obtained from the sensor signals to the host computer 14.

In other embodiments, other hardware that provides similar functions as the local microprocessor 510 may be provided in the mouse 12. According to a predetermined sequence, algorithm or process, a hardware device incorporating certain logic is used to provide signals to the actuator assembly 54, receive signals from the sensors 512, and output force signals. be able to. Techniques for executing logic having a desired function in hardware are well known to those skilled in the art.

In a different embodiment of the host control, the host computer 14 provides a low level force command via the bus 20, which command is transmitted by the microprocessor 510 or other (simpler) circuit to the actuator assembly 54. Is communicated directly to. Therefore, 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 assembly 54 and directly receives signals from sensors 512 and input devices 518. In the case of this embodiment, it is not necessary to provide a complicated local microprocessor 110 and other processing circuits in the mouse 12, which is preferable for further reducing the cost of the tactile feedback device. In addition, the actuator is used to output a free, unsupplied force of the sensed force, and is more simplified, so that the local control of the force by the local microprocessor 510 to provide the desired quality of force. You do not need to do this.

In the simplest embodiment of the host control, a signal transmitted from the host computer 14 to the mouse 12 is a one-bit signal indicating whether or not to vibrate the actuator at a predetermined frequency and magnitude. It is. In more complex embodiments, the signal from host computer 14 includes a magnitude that provides the desired pulse intensity. In a more complex embodiment, this signal includes instructions that provide both magnitude and pulse detection. In a more complex embodiment, the local microprocessor 510 can use the local microprocessor 510 to receive a simple command from the host computer 14 indicating a force value to be provided over time. Next, the local microprocessor 510 outputs the force value for a predetermined time, thereby reducing the communication burden between the host computer 14 and the mouse 12. In a more complex embodiment, high-level instructions having tactile sensation parameters can be sent to the local microprocessor 510 of the mouse 12 to provide a complete sensation independent of host computer 14 intervention. In this embodiment, the communication load is reduced most. A plurality of the above methods can be used in combination for one mouse 12.

Connecting a local memory 522 such as RAM and / or ROM to the local microprocessor 510 of the mouse 12 for storing instructions to the local microprocessor 510 and for storing temporary data and other data. Is preferred. For example, a series of stored force values output by the local microprocessor 510 and a force profile such as a lookup table of force values output based on the current position of the user object are stored in the local memory 522. Is done. Further, similarly to the system clock 502 of the host computer 14, a local clock 524 for supplying timing data may be connected to the local microprocessor 110. The timing data for the local microprocessor 510 can be derived from the USB signal or other bus.

In one embodiment, host computer 14 can output, for example, a “spatial representation” to local microprocessor 110. This spatial representation is data that indicates the location of some or all of the graphical objects displayed in a GUI or other graphical environment, and these locations are related to power and the type / characteristics of the graphical object. The local microprocessor 510 can store such a spatial representation in the local memory 522, thereby determining the interaction of the operating means with graphical objects such as fixed surfaces independently of the host computer 14. can do. Independently of the host computer 14, the local microprocessor 510 supplies necessary instructions or data to the local microprocessor 510 to confirm the reading of the sensor, the determination of the cursor and the target position, and the determination of the output force. Is also good. The host computer 14 can appropriately execute program functions (display of images, etc.), and execute a synchronization command between the local microprocessor 510 and the host computer 14 to modify the processes of the local microprocessor 510 and the host computer 14. Can be communicated. Also, the local memory 522 may store a predetermined force sensation associated with the type of graphical object for the local microprocessor 510. Alternatively, the host computer 14 may directly transmit a force feedback signal to the mouse 12 to generate a tactile sensation.

The sensor 512 detects the position or movement of the mouse 12 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). Sensors suitable for detecting movement of the mouse 12 in the plane include the detection system 52 described with reference to FIG. 2, for example, a digital optical encoder frictionally coupled to a rotating ball or cylinder known to those skilled in the art. Da is suitable. Optical sensor systems, linear optical encoders, optical sensors, speed sensors, acceleration sensors, strain gauges or various other sensors can be used, both absolute and relative sensors can be used . As is well known to those skilled in the art, an interface 514 for an optical sensor for converting the sensor signal into a signal that can be translated into a machine language by the local microprocessor 110 and / or the host computer 14 may be provided.

The actuator assembly 54 transmits a force to the housing 50 of the mouse 12, as described with reference to FIG. 2, in response to signals received from the local microprocessor 510 and / or the host computer 14. The actuator assembly 54 generates an inertial force by moving an inertial mass, and / or generates a contact force by moving a contact member such as the movable cover 122. In a preferred embodiment, the use of a flexure or other mechanical transmission mechanism causes the inertial mass to move approximately perpendicular to the flat degree of freedom of movement of the mouse 12 and the actuator assembly 54 No force is generated in the main degree of freedom of the movement of the mouse 12.

The actuator assembly 54 can provide a short duration force sensation to the handle or housing 50 of the mouse 12 as compared to the proof mass. This short-time force sensation is described as a "pulse" in this description. Ideally, this pulse would be substantially oriented in the Z-axis direction orthogonal to the XY plane of mouse 12 movement. In an advanced embodiment, the magnitude of this "pulse" can be controlled. The "pulse" sensation can be controlled by a positive or negative bias. A “periodic force sensation” for the inertial mass can be provided to the handle of the mouse 12, where the periodic force sensation may have a magnitude and frequency, for example, a sine wave. The periodic force sensation can be selected from sine wave, square wave, sawtooth rising wave, sawtooth falling wave preliminary triangular wave. An envelope may be applied to the periodic force sensation to change the magnitude over time. The resulting force signal may be "pulse-shaped", as described in U.S. Patent No. 5,959,613. There are two methods for communicating the periodic force sensation from the host computer 14 to the mouse 12. Waveforms can be "streamed" as described in U.S. Pat. No. 5,959,613. Alternatively, the waveform may be transmitted by high-level instructions including parameters such as strength, frequency and duration, as described in US Pat. No. 5,734,373. These control mechanisms can be used when supplying a contact force to the movable member. In embodiments that output both inertial and contact forces, the pulse command signal can be used to simultaneously drive both the inertial mass and the contact member to provide a pulse sensation. Alternatively, the inertial mass and the contact member can be controlled simultaneously with different command signals to output different sensations.

In other embodiments, additional actuators may be used to provide a tactile sensation in the Z-axis and / or the degrees of freedom of the mouse 12. In one embodiment, mouse 12 may include a plurality of actuator assemblies 54 to provide greater force, output force in multiple degrees of freedom, and / or output different tactile sensations simultaneously. . In other embodiments, the mouse 12 may be improved by providing a secondary, different type of actuator in addition to the actuator assembly described herein. In some embodiments, due to force forcing, this secondary actuator may be passive (ie, force damping). The passive actuator may be a brake, such as a very low power brake using a substance such as a magnetorheological fluid. Alternatively, the passive actuator may be a conventional magnetic brake. Passive braking means can be used via a frictional connection between the housing of the mouse 12 and the base surface 22. For example, a friction roller at the base of the housing of the mouse 12 may engage the base surface 22. This friction roller rotates freely when the user moves the mouse, unless a passive brake is applied. When the brake is applied, when the user moves the mouse 12, the user feels passive resistance (resistance in one or two degrees of freedom of the plane of the mouse 12). This passive resistance can provide an additional sensation that complements the "pulse" sensation and the "vibration" sensation. Other types of devices, such as joysticks, steering wheels, trackballs, etc., may also have additional actuators.

An actuator interface 516 is connected between the actuator assembly 54 and the local microprocessor 510 to convert signals from the local microprocessor 510 into signals suitable for driving the actuator assembly 54. Is also good. The interface 516 for the actuator comprises power amplifiers, switches, digital-to-analog controllers (DACs), analog-to-digital controllers (DACs), and other components, as is well known to those skilled in the art. It is necessary to configure a circuit to drive the actuator in two directions. Circuit configurations for such two-way (frequency) operation are well known to those skilled in the art. Other output devices 518 are provided on the mouse 12 and, when operated by a user, these other output devices 518 send input signals to the local microprocessor 510 or the host computer system 14. These output devices 518 include buttons 16 and may include other buttons, dials, switches, scroll wheels, or other control means or mechanisms.

In order to supply power to the actuator 18, a power supply 520 connected to the interface 516 for the actuator and / or the actuator assembly 54 may be provided in the mouse 12. Alternatively, power may be supplied by a power source provided separately from the mouse 12, or power may be supplied via a USB or other bus. Further, the supplied power may be stored and adjusted by the mouse 12 and used when the actuator assembly 54 needs to be driven, or may be used in an auxiliary manner together with the power supply of the mouse 12, for example. Alternatively, this technique can be used for a wireless mouse 12 where battery power is used to drive a haptic actuator. In one embodiment, the battery is charged by a generator mounted on the mouse, which is driven by moving the mouse 12 by the user. For example, a mouse ball or cylinder rotates a friction roller or shaft connected to a generator to charge a battery. A safety switch 532 may be provided for the user to deactivate the actuator assembly 54 for safety reasons.

FIG. 20 is a schematic view of a screen on the display device 26 of the host computer 15 displaying the GUI used in the present invention, and is an example of a graphical environment in which a user can interact using the device of the present invention. It is. The tactile feedback device of the present invention provides a tactile sensation that makes interaction with graphical objects more interesting and more intuitive. In a mouse embodiment, the user typically controls a cursor 546 to select graphical objects and information on the GUI. The windows 550 and 552 display information from the application program running on the host computer 14. After selecting a menu heading button, such as start button 555, the user can select menu element 556 of menu 554. Icons 556, 560, 561 and web link 562 are also displayed as selectable elements. The haptic sensations associated with these graphical objects can be output by using actuator assembly 54 based on signals output from local microprocessor 510 or host computer 14. The actuator assembly of the present invention has a wide operating band. Also, from the actuator point of view, the actuator assembly of the present invention provides a control signal generated by an appropriate signal regardless of whether the input signal has a periodic waveform or a pulse that is an aperiodic signal. All possible force sensations can be generated.

The sense of pulse (or shock) output in the following cases is a basic tactile function required for the mouse device described here. (A) When the cursor 546 moves between the menu elements 556 of the menu 554. (B) The cursor 546 moves over an icon 5556, a button, a hyperlink 562, or other graphical target. (C) When crossing the boundaries of windows 550 and 552. (D) When passing over an application-specific element in a software application, such as a node in a flow chart, a point in a drawing, or a cell in a spreadsheet. A suitable sensation for this simple cursor interaction is a quick and steep “pulse” or “pop”. This sensation can be obtained, for example, by moving the inertial mass a small number of oscillations and applying a sharp, brief force between the inertial mass and the housing of the mouse. For example, a pulse includes a single force pulse that rises rapidly to a predetermined magnitude, then disappears or rapidly decays to zero or a small value. At the same time or alternatively, a pulse may be output as the vertical movement of the contact member such as the movable cover.

A vibration may be output in which a series of pulses are periodically applied at a specific frequency for a specific period. A time-varying force may be output in which the waveform according to force and time is a sine wave, a triangular wave, a sawtooth wave, or another waveform. The vibration is caused by the inertial mass or the back and forth vibration of the contact member.

By correlating the pulses and / or vibrations with a cursor on a graphical object or graphical area, a sense of “spatial texture” may be output. This force sensation may depend on the position of the mouse in a flat workspace (or the position of the cursor in a graphical user interface). For example, the cursor may be dragged on the graphic grid and the pulse may be correlated with the spacing between the openings in the grid. For example, a texture bump is output depending on whether the cursor is moving over the bump location of the graphic object. No force is output when the mouse is positioned between the "bumps" of the fabric, but is output when the mouse moves over the bump. This may be performed under host control (eg, when the cursor is pulled over the grid, the host computer will send a pulse) or may be performed under local control (eg, the host may not be able to control the fabric parameters). In response, it sends a high-level command and the sensation is controlled directly by the device.) In other cases, the user may be provided with a texture sensation by applying vibration, which depends on the current speed of the mouse on a flat workspace. There is no vibration when the mouse is at rest, and the faster the mouse moves, the higher the frequency and magnitude of the vibration. It is also possible to output other spatial force sensations other than the texture sensation. In addition, any desired force sensation can be simultaneously output by the actuator 18 as needed.

The host computer 14 can coordinate tactile sensations with interactions and events that occur in the host application. An individual menu 556 of menu 554 can be associated with a force. To indicate importance, or frequency of use, the sensation of selecting certain menus may be stronger than the sensation of selecting other menus. That is, the most used menu selection is associated with a larger (stronger) pulse compared to the least used menu selection. Furthermore, when a submenu is displayed, a pulse feeling may be output.

A pulse feeling may be output based on the interaction between the cursor 546 and the window. For example, a pulse may be output when the cursor 546 moves beyond the boundary of the window 550 or 552, and a texture may be output when the cursor 546 is within the window boundary. Further, when the user moves on a selectable object such as the link 554 or the icon 556 of the displayed web page, a pulse may be output. Also, vibration may be output to display the icon where the cursor is currently located. Further, the characteristics of the document displayed in the window 550 or 552 may be associated with the force sensation.

In other interactions, a pulse sensation may be provided as the cursor moves over icons 556, folders, hyperlinks 562, or other graphic targets. The sensations associated with some elements may be stronger than those of other types or stages, simply to distinguish them from significance or other elements. Also, the pulse strength may be associated with the display size of the graphical element. Active windows that are distinguished from windows in the background, folder icons with different priorities set by the user, game icons that are distinct from business applications, differences in menus included in drop-down menus, etc. The magnitude of the pulse may depend on the characteristics of other graphical objects, including.

In another interaction, a pulse sensation can be used to display page boundaries or other boundaries when scrolling through a document. For example, when a specific area of a scrolled page passes through a specific area of a window, a pulse sensation is output. The frequency of the vibration can be used to indicate the speed of the scroll. In other scroll related interactions, when the down arrow of the scroll bar is pressed, vibration may be provided to the device to indicate that the scrolling process is in progress. When the graphic slider reaches the end of its travel, a pulse can be used to indicate that the end of the travel has been reached. When using a slide bar with a "tick mark", a pulse sensation can be used to indicate the position of the "tick". A pulse may be output to inform the user that the slider has reached the center. Different strength pulses can be used for ticks of different dimensions. Pulses can be used for volume control. In other interactions, the magnitude and / or frequency of the vibration may be associated with adjusting the volume control to inform the user of the current volume.

Another interaction is when the user is dragging a graphical object in a graphical user interface, such as an icon, or stretching an element, such as a line, to inform the user that the function is active. Vibration sensation can be used to indicate. If the user is performing a function, the pulse sensation can be used to indicate that the function (eg, cut or paste) is being performed.

A particular event that has been or has not been terminated by the user may be associated with a tactile sensation. For example, when an email arrives, an appointment reminder is displayed, and a game event occurs, a pulse or vibration can be output to notify the user of the event. Pulses or vibrations may be used to alert the user when an error message or other system event is displayed in a dialog box on the host computer. When the host system is processing and requesting the user to wait, a pulse sensation may be sent to indicate the end of the processing. The tactile sensations can be modified to represent different types of events or different events of the same type. Different events or events with different characteristics, such as the sending of an e-mail by a particular user, the priority of an event, or the start or end of a particular task (eg downloading a document or data over a network). , Different frequencies and / or magnitudes of vibration can be used for each.

Many tactile sensations can be associated with interactions and events that occur within a particular application. For example, gaming applications may use a wide variety of periodic sensations to enhance various actions and events in the game, such as engine vibration, weapon firing, destruction and collision, rough roads, explosions, etc. it can. These sensations can also be performed as a button reflex, as described in US Pat. No. 5,691,898.

In a spreadsheet-based application, a pulse sensation can be used to indicate that the cursor has moved from one element, ie, cell, to another cell. Stronger pulses can be used to indicate that a particular or predetermined row, column or cell has been reached. In word processors, pulse sensations can be output so that the user senses boundaries between words, spaces between words, line spacing, punctuation, highlights, bold, or other elements of interest. In draw-based applications where the user can use the “spray can” metaphor to provide colored pixels, the “spray can” metaphor should be made more attractive to the user. Vibration may be output during the “spray” process. Draw or CAD programs can also be associated with pulses or other sensations, such as displayed (or invisible) grid lines and dots, control points for the object being drawn, contours and edges of the object, etc. There are many features. In web pages, pulses or vibrations can be used to enhance the user's experience with objects on the web such as web page links, entry text boxes, graphical buttons and images.

[0109] For certain features, the user may wish to turn pulse feedback on or off. Preferably, the feedback sensation can be activated or deactivated by software selections, such as check boxes, and / or hardware, such as mouse push buttons. In other examples or embodiments, the feedback sensation for a feature may be activated or deactivated, depending on the speed of the mouse movement. For example, if the user moves the cursor very quickly across the displayed desktop, the user can be deemed not to try to select a graphical object on the path of the cursor. Thus, the host software (or software / firmware executed by the local microprocessor) attenuates or eliminates the pulse if the cursor is moving faster than the threshold speed. Conversely, if the user moves the cursor slowly, the pulse is activated or emphasized with a large pulse.

Software designers may wish that hovering the cursor over an area of the screen would allow the user to access software functionality and eliminate the need to press a mouse button (usually a “click”). In general, a function is executed by an operation called ".).) At present, there is a problem in executing “clickless” functions, because the user physically confirms execution by pressing a button. The pulse sent to the tactile feedback mouse of the present invention can serve as a physical confirmation without the user having to press a button. For example, when a user places a cursor on a web page and the cursor stays within a predetermined area for a predetermined time, a related function is executed, and the user is notified with a tactile sensation.

As described with reference to FIG. 19, when a secondary actuator such as a low-power brake is used to assist the main actuator 54, the passive resistance is changed to “pulse” and “pulse” as described above. It can be an additional sensation that complements the "vibration" sensation. For example, when the user drags the icon or stretches the image, the passive resistance gives the user a drag (braking) sensation. Active and tactile sensations can be used interdependently. For example, passive resistance is useful to slow down the mouse movement when selecting a menu item, but passive feedback is only output when the user moves the mouse, so the mouse stops or moves slowly. Sometimes an active feedback output is useful.

While the invention has been described with reference to various embodiments, modifications, substitutions and equivalents will be apparent to those skilled in the art from the description and drawings. For example, a variety of different tactile sensations can be provided to the actuator assembly of the present invention, and a variety of different rotary actuators can be used for the actuator assembly. Different configurations of flexures can be used that can provide the required degree of freedom for the amount of inertia or the contact members. The terms used to clarify the description are not intended to limit the present invention. Therefore, the claims of the utility model registration include changes, substitutions and equivalents in the true spirit and scope of the present invention.

[Brief description of the drawings]

FIG. 1 is a perspective view of a system including a tactile feedback interface device of the present invention connected to a host computer.

2 is a side cross-sectional view of a mouse that is an embodiment of the tactile feedback interface device of FIG. 1 that supplies inertial force to a user.

FIG. 3 is a side perspective view of an embodiment of an actuator assembly suitable for use with the present invention.

FIG. 4 is a side view of an embodiment of an actuator assembly suitable for use with the present invention.

FIG. 5 is a side view of the actuator assembly of FIGS. 3 and 4 in a flexed position.

FIG. 6 is a side cross-sectional view of a mouse of the tactile feedback interface device of FIG. 2 for providing additional contact force to a user.

FIG. 7 is a schematic view of an embodiment of the actuator assembly of the present invention moving as an inertial mass.

FIG. 8 is a perspective view of an embodiment of the actuator assembly of FIG. 7;

FIG. 9 is a perspective view of an embodiment of the actuator assembly of FIG. 7;

FIG. 10 is a perspective view of an embodiment of the actuator assembly of FIG. 7;

FIG. 11 is a perspective view of an embodiment of the actuator assembly of FIG. 7;

FIG. 12 is a perspective view of an embodiment of the actuator assembly of FIG. 7;

FIG. 13 is a side cross-sectional view of a mouse embodiment of the tactile feedback interface device of FIG. 2, including an embodiment of the actuator assembly of FIG. 7;

FIG. 14 is a perspective view of an actuator assembly used in the haptic feedback interface device of FIG. 11;

FIG. 15 is a perspective view of an actuator assembly used in the tactile feedback interface device of FIG. 11;

FIG. 16 is a plan view of an actuator assembly used in the tactile feedback interface device of FIG. 11;

17 (a) and (b) are exploded perspective views of the embodiment of the actuator assembly of FIG. 7;

18 (a) and (b) show FIGS. 17 (a),
It is a figure showing the actuator assembly of (b).

FIG. 19 is a block diagram showing an embodiment of a tactile feedback interface device and a host computer used in the present invention.

FIG. 20 is a diagram illustrating a graphical user interface including elements for providing a tactile feedback interface implemented according to the present invention.

[Explanation of symbols]

12, 40, 120 Mouse 14 Host computer 50 Housing 54, 200, 300, 450 Actuator assembly 62 Sensor 66 Actuator 68, 80, 320 Flexure 70, 97 Inertial mass 122 Movable cover 202 Rotary actuator 205 Transmission mechanism 206 Rotating member

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[Procedure amendment]

[Submission date] February 20, 2001 (2001.2.2)
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[Procedure amendment 1]

[Document name to be amended] Drawing

[Correction target item name] All figures

[Correction method] Change

[Correction contents]

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Claims (21)

[Utility model registration claims] 1. A tactile feedback interface device connected to a host computer executing a host application program and operated by a user, wherein the housing is physically contacted by a user; A sensor for detecting an operation of the tactile feedback interface device and outputting a detection signal indicating the operation, an actuator coupled to the housing, and operating to output a rotational force; and coupling the actuator to the housing. The flexible body is a single member, and includes a plurality of flexible joints for moving a part of the flexible body substantially linearly, and the rotational force output by the actuator is linearly moved. And the force transmitted to the user by this linear motion is Raw to, tactile feedback interface device. 2. The haptic feedback interface device according to claim 1, wherein the linear movement is substantially along an axis perpendicular to a flat work space in which the haptic feedback interface device is moved by the user. 3. A part of the flexure is connected to an inertial mass so that the inertial mass moves linearly when the actuator outputs the rotational force. The inertial force by the inertial mass is transmitted through the housing. The tactile feedback interface device according to claim 1 or 2, which is transmitted to the user. 4. The tactile feedback interface device according to claim 3, wherein the inertial mass is the actuator. 5. The flexible layer according to claim 3, wherein a flexible layer is arranged at least between the tactile feedback interface device and a hard surface supporting the tactile feedback interface device. Tactile feedback interface device. 6. The actuator according to claim 1, wherein the rotation shaft of the actuator rotates about an axis substantially perpendicular to a surface on which the tactile feedback interface device is mounted.
The tactile feedback interface device according to any one of claims 1 to 5, wherein the actuator is arranged. 7. The linear motion correlates with a graphic display displayed by the host computer, and a position of the tactile feedback interface device in the flat workspace corresponds to a position of a cursor displayed on the graphic display. Claims 1 to 6
The tactile feedback interface device according to claim 1. 8. A tactile feedback interface device connected to a host computer executing a host application program and operated by a user, the housing of the tactile feedback interface device being physically contacted by a user; A sensor for detecting an operation of the tactile feedback interface device by the user and outputting a detection signal indicating the operation; an actuator coupled to the housing and operating to output a force; A mechanism coupled to a housing for moving the actuator relative to the housing, wherein the actuator functions as an inertial mass during operation to supply inertial force to the user, Face equipment. 9. The haptic feedback interface device according to claim 8, wherein the actuator moves substantially linearly with respect to the device housing, the movement being caused by a force output by the actuator. 10. The tactile feedback interface device according to claim 8, wherein the force output by the actuator is a rotational force. 11. The actuator moves substantially linearly in a Z-axis direction substantially perpendicular to an XY plane on which the user can move operating means of the tactile feedback interface device. The tactile feedback interface device according to any one of items 8 to 10. 12. The actuator is connected to a contact member, the contact member moves when the actuator moves, and the user physically contacts the contact member during normal operation of the tactile feedback interface device. The tactile feedback interface device according to any one of claims 8 to 11, wherein the contact member transmits the contact force to the user during the transmission of the inertial force to the user. 13. The apparatus of claim 8, wherein the mechanism comprises a flexible body having at least two flexible joints.
The tactile feedback interface device according to claim 1. 14. The linear motion correlates with a graphic display displayed by the host computer, and a position of the tactile feedback interface device in the flat workspace corresponds to a position of a cursor displayed on the graphic display. The tactile feedback interface device according to any one of claims 8 to 13. 15. The actuator according to claim 8, wherein the actuator is arranged such that a rotary shaft of the actuator rotates about an axis substantially perpendicular to a plane on which the tactile feedback interface device is mounted. Item 15. The tactile feedback interface device according to any one of items 14. 16. A flexible layer is disposed between at least the tactile feedback interface device and a hard surface supporting the tactile feedback interface device, the flexible layer increasing the inertial force. Item 16. The tactile feedback interface device according to any one of items 15. 17. The flexible body according to claim 8, wherein the flexible body has at least one stop for preventing the shaft of the actuator from rotating beyond a predetermined rotation range of the maximum rotation. The haptic feedback interface device according to any one of Claims 16 to 16. 18. An actuator assembly for use in a haptic feedback interface device operated by a user connected to a host computer executing a host application program, the actuator assembly comprising a housing and a rotating shaft, wherein the haptic feedback interface is provided. Connected to the housing of the device,
An actuator operable to output a force, coupling the actuator to the housing of the tactile feedback interface device, and moving the housing of the actuator and the rotating shaft relative to the housing of the tactile feedback interface device; Wherein the actuator is actuated as an inertial mass during operation to supply an inertial force transmitted to a user of the haptic feedback interface. assembly. 19. The actuator assembly according to claim 18, wherein the actuator moves substantially linearly, and the force output by the actuator is a rotational force. 20. The actuator assembly according to claim 18, wherein the mechanism for moving the actuator is a flexible body including at least one flexible joint. 21. A rotary shaft of the actuator is connected to a flexible arm comprising the at least one flexible coupling, the flexible arm being connected to a base resiliently connected to a carriage, wherein the carriage is connected to a housing of the actuator. 21. The actuator assembly according to claim 20, wherein