JP4929394B2 - ホストコンピュータを利用して力フィードバックインタフェースを制御する方法および装置 - Google Patents
ホストコンピュータを利用して力フィードバックインタフェースを制御する方法および装置 Download PDFInfo
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Description
このため、制御コンピュータシステムによって、現実に近い正確な力フィードバックを、このようなシリアルインタフェースを介して接続された従来のインタフェース装置に与えることは困難になる。例えば、J.Kramerによる米国特許第5、184、319号は、ユーザの胴体部分に力を加える力フィードバック装置を開示している。しかし、このKramerの装置は、ホストコンピュータがアクチュエータを直接制御し、インタフェース装置からセンサデータを直接受信するという点で従来技術の典型的なものである。このような装置は、現実に近い力フィードバックを実現する低帯域幅通信インタフェースには適していない。
この他に、マイクロプロセッサ26および/またはインタフェース装置14の他の電子部品は、ユーザオブジェクト34、センサ28、およびアクチュエータ30から分離されたハウジング内に設置してもよい。更に、オブジェクト34に所望の自由度を与えるために、追加の機械構造がインタフェース装置14内に含まれていてもよい。このような機構の幾つかの実施形態は、図7〜図12を参照して説明する。
勿論、DAC回路44は、デジタル信号を所望のアナログ信号に変換するために用いることができる多くの可能な回路の一つの例として意図されている。
COND-X(K+,K-,DB,B+,B-,N-Offset,Sat+,Sat-,m)
を、ホストコンピュータ12からマイクロプロセッサ26に送ることができる。このコマンドは、ユーザオブジェクトのモデルの特定の物理的なパラメータを一つの自由度内で指定する。Kパラメータは、ある自由度に沿った二つの方向におけるユーザオブジェクトの変位の比例剛性を示す。DBパラメータは、最大許容デッドバンド距離のパーセンテージでデッドバンド範囲を示す。Bパラメータは、ある自由度に沿った二つの方向おけるユーザオブジェクトの速度に対する速度比例制動を示す。N_Offsetパラメータは、(Kパラメータにより定義される)ばねのモデル化中立位置からのオフセットとして指定することができる。Satパラメータは、ユーザオブジェクトの変位に対する最大(飽和)許容力値を示しており、例えば、可能な最大力の、あるパーセンテージで表される。mパラメータは、例えばユーザオブジェクトの重力または慣性力を計算するための物理モデルで利用することができるユーザオブジェクトのシミュレート質量を示す。上記の条件コマンドは、ユーザオブジェクト34の所与の自由度の各々に対して使用することができる。例えば、COND_Xは、x軸のまわりの自由度における条件力を提供することができる。このコマンドは、復元力、ばね復元力、緩慢力、および不安定力を、さまざまなコマンドパラメータを調整することにより実現することができる。
PADDLE(B-mass,B-vel-x,B-vel-y,Gravity,Sense,Compliance-X,Compliance-Y)
ここで、コマンドパラメータB_massはボールのシミュレート質量を示し、B_vel_xとB_vel_yはボールの速度であり、gravityは重力の強さであり、senseは重力の方向であり、Compliance_XとCompliance_Yはラケットオブジェクト34のシミュレートコンプライアンスまたは剛性である。コンピュータ環境やオブジェクトの相互作用の他の物理的な側面を制御するために、他のパラメータが含まれていてもよい。
SLUGGISH(90,X(+)uni)
SPRING(65,X bi,85)
である。
Claims (11)
- グラフィック環境を実行するホストコンピュータと通信するコンピュータ周辺機器であって、
少なくとも1つの自由度で可動に構成されるユーザ操作可能オブジェクトと、
前記ユーザ操作可能オブジェクトの位置または動きを検出するように構成されるセンサと、
少なくとも1つのアクチュエータと、
複数の反射プロセスを記憶するように構成されるローカルメモリ装置と、
前記アクチュエータ、前記センサ及び前記ローカルメモリ装置と通信するプロセッサであって、
前記センサから、センサデータを含むセンサ信号を受信し、
前記センサデータをホストコンピュータへ送信し、
前記ホストコンピュータから、前記ホストコンピュータによって実行されるグラフィック環境におけるイベント又は相互作用に基づく高水準ホストコマンドを受信し、
複数の前記反射プロセスのうちの一つと関連するコマンド識別子とコマンドパラメータとを含む高水準力コマンドに関連する反射プロセスを、複数の前記反射プロセスから選択し、
前記アクチュエータに、触感を前記ユーザ操作可能オブジェクトに出力せしめるように構成されるアクチュエータ信号を前記反射プロセスに基づいて生成し、
前記アクチュエータ信号を前記アクチュエータに送信する、
ように構成される、
前記プロセッサと、
を備える、
コンピュータ周辺機器。 - 前記コマンドパラメータは、力の大きさ、力の方向、力の持続時間又はデッドバンド領域の少なくとも一つを含む、請求項1記載のコンピュータ周辺機器。
- 前記高水準力コマンドは、複数のコマンドパラメータを含む、請求項1に記載のコンピュータ周辺機器。
- 前記コマンドパラメータは、前記触感のための最大力出力を指定する飽和パラメータを含む、請求項1に記載のコンピュータ周辺機器。
- 前記飽和パラメータは、前記ユーザ操作可能オブジェクトの変位に対する前記最大力出力を指定し、前記触感がばね力感覚である、請求項4記載のコンピュータ周辺機器。
- 前記高水準力コマンドは、複数のコマンドパラメータを含む、請求項1に記載のコンピュータ周辺機器。
- 前記触感が条件力感覚である、請求項1記載のコンピュータ周辺機器。
- 前記触感は、前記ユーザ操作可能オブジェクトに対して加えられ且つ前記ユーザ操作可能オブジェクトの障壁領域への動きに伴って直線的に増大する抵抗力を与える障壁触感である、請求項1記載のコンピュータ周辺機器。
- 前記ホストコマンドは、前記ユーザ操作可能オブジェクトが前記障壁領域内にあるときに前記ユーザ操作可能オブジェクトに対して加えられる抵抗力の大きさを示す硬さパラメータも含む、請求項8記載のコンピュータ周辺機器。
- 前記ホストコマンドは、前記ユーザ操作可能オブジェクトの前記自由度における前記障壁領域の位置を示す位置パラメータも含む、請求項8記載のコンピュータ周辺機器。
- 前記ユーザ操作可能オブジェクトが前記障壁領域を通って移動する直後に補助力が前記ユーザ操作可能オブジェクトに対して加えられる、請求項8記載のコンピュータ周辺機器。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
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US08/534,791 | 1995-09-27 | ||
US08/534,791 US5739811A (en) | 1993-07-16 | 1995-09-27 | Method and apparatus for controlling human-computer interface systems providing force feedback |
US08/566,282 US5734373A (en) | 1993-07-16 | 1995-12-01 | Method and apparatus for controlling force feedback interface systems utilizing a host computer |
US08/566,282 | 1995-12-01 |
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JP2009207107A Expired - Lifetime JP4689747B2 (ja) | 1995-09-27 | 2009-09-08 | ホストコンピュータを利用して力フィードバックインタフェースを制御する方法および装置 |
JP2010263969A Expired - Lifetime JP4929394B2 (ja) | 1995-09-27 | 2010-11-26 | ホストコンピュータを利用して力フィードバックインタフェースを制御する方法および装置 |
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JP2009207107A Expired - Lifetime JP4689747B2 (ja) | 1995-09-27 | 2009-09-08 | ホストコンピュータを利用して力フィードバックインタフェースを制御する方法および装置 |
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US (5) | US5734373A (ja) |
EP (1) | EP0852789B1 (ja) |
JP (3) | JPH11514469A (ja) |
CA (1) | CA2233136C (ja) |
DE (1) | DE69636703T2 (ja) |
WO (1) | WO1997012357A1 (ja) |
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1995
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1996
- 1996-09-25 WO PCT/US1996/015373 patent/WO1997012357A1/en active Search and Examination
- 1996-09-25 CA CA2233136A patent/CA2233136C/en not_active Expired - Lifetime
- 1996-09-25 EP EP96935951A patent/EP0852789B1/en not_active Expired - Lifetime
- 1996-09-25 DE DE69636703T patent/DE69636703T2/de not_active Expired - Lifetime
- 1996-09-25 JP JP9513599A patent/JPH11514469A/ja active Pending
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CA2233136C (en) | 2012-01-31 |
CA2233136A1 (en) | 1997-04-03 |
JP2010061667A (ja) | 2010-03-18 |
JPH11514469A (ja) | 1999-12-07 |
US20010030658A1 (en) | 2001-10-18 |
US20030193475A1 (en) | 2003-10-16 |
US6219033B1 (en) | 2001-04-17 |
DE69636703T2 (de) | 2007-09-13 |
DE69636703D1 (de) | 2006-12-28 |
EP0852789A1 (en) | 1998-07-15 |
US6982700B2 (en) | 2006-01-03 |
US20060007184A1 (en) | 2006-01-12 |
EP0852789B1 (en) | 2006-11-15 |
JP4689747B2 (ja) | 2011-05-25 |
US6580417B2 (en) | 2003-06-17 |
JP2011065678A (ja) | 2011-03-31 |
EP0852789A4 (en) | 1998-12-09 |
WO1997012357A1 (en) | 1997-04-03 |
US8077145B2 (en) | 2011-12-13 |
US5734373A (en) | 1998-03-31 |
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